Integrated and modular suspended load control apparatuses, systems, and methods

ABSTRACT

Load control apparatuses, systems and methods to control a location, orientation, or rotation of a suspended load by imparting thrust vectors to the suspended load or to a structure that holds the load. The load control apparatuses, systems and method may be integrated into a structure that holds a load, such as a rescue litter. The load control apparatuses, systems, and methods may be modular. The modular load control apparatuses, systems, and methods may be secured to a load or to a structure that holds the load.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a continuation of [VIIN-2018005pct-us-c1] U.S.patent application Ser. No. 17/398,638, filed 2021 Aug. 10;[VIIN-2018005pct-us-c1] 17/398,638 is a continuation-in-part of U.S.patent application Ser. No. 16/988,373, filed 2020 Aug. 7; 16/988,373 isa continuation of Patent Cooperation Treaty application serial numberPCT/US19/13603, filed 2019 Jan. 15; PCT/US19/13603 was a nonprovisionalof and claimed the benefit of U.S. provisional patent application No.62/757,414, filed 2018 Nov. 8; PCT/US19/13603 was a nonprovisional ofand claimed the benefit of U.S. provisional patent application No.62/627,920, filed 2018 Feb. 8; [VIIN-2018005pct-us-c1] 17/398,638further is a continuation-in-part of Patent Cooperation Treatyapplication serial number PCT/US20/42936, filed 2020 Jul. 21;PCT/US20/42936 was a nonprovisional of and claimed the benefit of U.S.provisional patent application No. 62/931,666, filed 2019 Nov. 6;PCT/US20/42936 was a nonprovisional of and claimed the benefit of U.S.provisional patent application No. 62/876,721, filed 2019 Jul. 21;[VIIN-2018005pct-us-c1] 17/398,638 further is a continuation-in-part ofPatent Cooperation Treaty application serial number PCT/US20/17790,filed 2020 Feb. 11; PCT/US20/17790 was a nonprovisional of and claimedthe benefit of U.S. provisional patent application No. 62/804,020.

FIELD

This disclosure is directed to improved systems and methods to controlsuspended loads, such as loads suspended by cable from helicopters,cranes, or the like, including systems and methods for suspended loadcontrol that are integrated into or which are removably secured from aload or from a structure that holds the load.

BACKGROUND

People and/or equipment (“loads”) may be transported to or from alocation as a load suspended by a cable from a helicopter or crane,using a hoist system. The loads are not generally buoyant. Cranes,helicopters, and other structures capable of carrying a load with ahoist system may be referred to herein as “carriers”. During suchoperations, loads are subject to winds and other external and internalfactors that may cause the load to move in an unstable or hazardousmanner. During such operations, it may be desirable to move the load toa location other than its lowest energy hanging position below thecarrier.

In hoist and sling operations, observed motion of suspended loadsincludes the following components: vertical translation (motion up anddown) along the Y axis (referred to herein as “vertical translation”);horizontal translation along either or both the X and Z axis; androtation or “yaw” about the Y axis. Roll (rotation about the X axis) andpitch (rotation about the Y axis) may also occur, though if a load issuspended by a cable and is not buoyant, the typical motions arevertical translation, horizontal translation, and yaw. Axis, whendiscussed herein, are relative to a normal axis of a suspended load.Vertical and horizontal translation may be caused by movement of thesuspension cable, such as by movement of the carrier, pulling in orpaying out the suspension cable, movement of the load, differences inmomentum between the load and the carrier, as well as by wind— includingpropeller wash—impacts, and external forces. Horizontal translation canmanifest as lateral motion or as or conical pendulum motion of the load,with the pivot point of the pendulum being where the cable is secured tothe carrier (“pendular motion”); pendular motion generally also includesa component of vertical translation.

Yaw, lateral motion, and pendular motion can complicate lift operations,cause delays, and can lead to death of aircrew, crane operators, and ofpeople on the ground. Yaw can produce dizziness and disorientation inhumans. Yaw and lateral and pendular motion can also interfere withbringing a load into or delivering a load to a location. For example,delivery of a load to a deck of a ship may be significantly complicatedby pendular motion or yaw of the load, even if the deck is stable and isnot also subject to heave, roll, or pitch, as it may be. For example,bringing a person in a litter into a helicopter or onto a helicopterstrut may be hazardous if the litter is undergoing yaw or pendularmotion as it is drawn up to the helicopter. One or more components ofundesired motion of the load may accelerate or grow more pronounced as aload is drawn up to the carrier and the suspension cable shortens.Horizontal and pendular motion of a load can also interact with thecarrier to produce dangerous or undesired reactive or sympathetic motionin the carrier.

In addition, some suspended load operations may involve an obstacle,such as a surface, cliff wall, building, bridge, tree limb, overhang,narrow passage or other obstacle that may interfere with one or more ofcarrier, load, and/or suspension cable. It may be desirable to move theload relative to such an obstacle, or for other reasons, in a mannerwhich does not involve the load hanging at a lowest energy positionbelow the carrier.

Management of loads and carriers would be improved if the load may bemoved independently from the carrier, including horizontal translation,pendular motion, and yaw control.

Operators of carriers, such as helicopter and crane crews, may uselegacy equipment that would benefit from independent load control.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a perspective view of a suspended load control system (“SLCS”)releasably secured to a litter, in accordance with an embodiment.

FIG. 2 is a perspective view of the suspended load control system(“SLCS”) of FIG. 1, without the litter.

FIG. 3 is a detail perspective view of components to releasably secure asuspended load control system (“SLCS”) to a load, in accordance with anembodiment.

FIG. 4 is a perspective view of a suspended load control system (“SLCS”)to be releasably secured to a load, in accordance with an embodiment.

FIG. 5 is a perspective view of the suspended load control system(“SLCS”) of FIG. 4 releasably secured to a litter.

FIG. 6 is a perspective view of a suspended load control system (“SLCS”)releasably secured to or incorporated into a basket structure forholding a load, in accordance with an embodiment.

FIG. 7 is a perspective view of the suspended load control system(“SLCS”) releasably secured to or incorporated into a basket structurefor holding a load of FIG. 6, suspended by a helicopter.

FIG. 8 is a perspective view of a suspended load control system (“SLCS”)integrated into a litter, in accordance with an embodiment.

FIG. 9 is a perspective view of wiring components of a suspended loadcontrol system (“SLCS”), in accordance with an embodiment.

FIG. 10 is a perspective view of sensors in or of a suspended loadcontrol system (“SLCS”), in accordance with one embodiment.

FIG. 11 is a perspective view of the suspended load control system(“SLCS”) integrated with the litter of FIG. 8, further illustrating arelationship with a carrier.

FIG. 12 is a perspective view of a suspended load control system(“SLCS”) releasably secured to a load, in an embodiment.

FIG. 13 is a detailed perspective view of mounting components of thesuspended load control system (“SLCS”) of FIG. 12, in accordance withone embodiment.

FIG. 14 is a perspective view of a suspended load control system(“SLCS”) secured to a load, illustrating a first example embodiment ofsecurement of fan units to the load.

FIG. 15 is a perspective view of a suspended load control system(“SLCS”) secured to a load, illustrating a second example embodiment ofsecurement of fan units to the load.

FIG. 16 schematically illustrates suspended load control system logicalcomponents and remote interface logical components in accordance withone embodiment.

FIG. 17 illustrates a suspended load control system operational moduleincluding multiple modes or command states in accordance with oneembodiment.

FIG. 18 illustrates a suspended load control system decision and thrustcontrol module in accordance with one embodiment.

FIG. 19 illustrates a parallel projection of a suspended load controlsystem (“SLCS”) integrated into a litter, in accordance with anembodiment.

FIG. 20 illustrates a parallel projection of a suspended load controlsystem (“SLCS”) secured to a litter, in accordance with an embodiment.

FIG. 21 illustrates a parallel projection of a suspended load controlsystem (“SLCS”) secured to a litter, in accordance with an embodiment.

FIG. 22 illustrates a parallel projection of a suspended load controlsystem (“SLCS”) secured to a litter and illustrating securement of loadbearing connector cables, in accordance with an embodiment.

FIG. 23A illustrates a parallel projection of a detail of securement ofa load bearing connector cable, in accordance with a first embodiment.

FIG. 23B illustrates a parallel projection of a detail of securement ofa load bearing connector cable, in accordance with a second embodiment.

FIG. 23C illustrates a parallel projection of a detail of securement ofa load bearing connector cable, in accordance with a third embodiment.

FIG. 23D illustrates a parallel projection of a detail of securement ofa load bearing connector cable, in accordance with a fourth embodiment.

FIG. 24 illustrates a parallel projection of a suspended load controlsystem (“SLCS”) secured to a litter and a detail of electroniccomponents of the SLCS, in accordance with an embodiment.

FIG. 25 illustrates a parallel projection of details of electroniccomponents of the SLCS, in accordance with an embodiment.

FIG. 26 illustrates a parallel projection of details of electroniccomponents of the SLCS, in accordance with an embodiment.

FIG. 27 illustrates a perspective view of a modular suspended loadcontrol system (“SLCS”) secured to a load, in accordance with anembodiment.

FIG. 28 illustrates a top perspective view of a modular suspended loadcontrol system (“SLCS”) secured to a load in a first position relativeto an obstacle, in accordance with an embodiment.

FIG. 29 illustrates a top perspective view of the modular suspended loadcontrol system (“SLCS”) secured to the load of FIG. 28, in a secondposition relative to the obstacle, in accordance with an embodiment.

FIG. 30 illustrates a top perspective view of the modular suspended loadcontrol system (“SLCS”) secured to the load of FIG. 28, in a thirdposition relative to the obstacle, in accordance with an embodiment.

FIG. 31 illustrates a perspective view of the modular suspended loadcontrol system (“SLCS”) secured to the load of FIG. 28, in accordancewith an embodiment.

FIG. 32 illustrates a perspective view of a securement mechanism toreleasably secure a modular component of a suspended load control system(“SLCS”) to a load, in accordance with an embodiment.

FIG. 33 illustrates a perspective view of components of the securementmechanism of FIG. 32, in accordance with an embodiment.

FIG. 34 illustrates a perspective view of components of the securementmechanism of FIG. 32, in accordance with an embodiment.

FIG. 35 illustrates a parallel projection of an elevation of componentsof the securement mechanism of FIG. 32, in accordance with anembodiment.

FIG. 36 illustrates a parallel projection of an elevation of componentsof the securement mechanism of FIG. 32, in accordance with anembodiment.

FIG. 37A is a back elevation view of a remote pendant, in accordancewith an embodiment.

FIG. 37B is an oblique view of the remote pendant of FIG. 37A, inaccordance with an embodiment.

FIG. 37C is a front elevation view of the remote pendant of FIG. 37A, inaccordance with an embodiment.

FIG. 38 illustrates a suspended load control system obstacle avoidancemodule, in accordance with one embodiment.

DETAILED DESCRIPTION

It is intended that the terminology used in the description presentedbelow be interpreted in its broadest reasonable manner, even though itis being used in conjunction with a detailed description of certainexamples of the technology. Although certain terms may be emphasizedbelow, any terminology intended to be interpreted in a restricted mannerwill be overtly and specifically defined as such in this DetailedDescription section.

Unless the context clearly requires otherwise, throughout thedescription and the claims, the words “comprise,” “comprising,” and thelike are to be construed in an inclusive sense, as opposed to anexclusive or exhaustive sense; that is to say, in the sense of“including, but not limited to.” As used herein, the term “coupled,” orany variant thereof means any coupling, either direct or indirectbetween two or more elements; a coupling between the elements can bephysical, logical, or a combination thereof. Additionally, the words,“herein,” “above,” “below,” and words of similar import, when used inthis application, shall refer to this application as a whole and not toparticular portions of this application. When the context permits, wordsusing the singular may also include the plural while words using theplural may also include the singular. The word “or,” in reference to alist of two or more items, covers all of the following interpretationsof the word: any of the items in the list, all of the items in the list,and any combination of one or more of the items in the list. Referencesmay be made herein to modules, routines, and subroutines; generally, itshould be understood that a module or routine is a software programexecuted by computer hardware and that a subroutine is a softwareprogram executed within a module or routine. However, modules or routinediscussed herein may be executed within another module or routine andsubmodules or subroutines may be executed independently (modules orroutines may be submodules or subroutines and visa versa).

As used herein, “releasable,” “connect,” “connected,” “connectable,”“disconnect,” “disconnected,” and “disconnectable” refers to two or morestructures which may be connected or disconnected, generally without theuse of tools (examples of tools including screwdrivers, pliers,wrenches, drills, saws, welding machines, torches, irons, and other heatsources) and generally in a repeatable manner. As used herein, “attach,”“attached,” or “attachable” refers to two or more structures orcomponents which are attached through the use of tools or chemical orphysical bonding. As used herein, “secure,” “secured,” or “securable”refers to two or more structures or components which are eitherconnected or attached.

The phrases “in one embodiment,” “in various embodiments,” “in someembodiments,” and the like are used repeatedly. Such phrases do notnecessarily refer to the same embodiment. The terms “comprising,”“having,” and “including” are synonymous, unless the context dictatesotherwise. As used in this specification and the appended claims, thesingular forms “a,” “an,” and “the” include plural referents unless thecontent clearly dictates otherwise. It should also be noted that theterm “or” is generally employed in its sense including “and/or” unlessthe content clearly dictates otherwise.

Approaches to control suspended loads include countermeasures installedon a carrier. For example, some airframes, such as the Skycrane™, have arail system installed beneath a cabin to mitigate sway of a load,though, being remote from the suspended load, such rail system hasmargin effect. Some approaches to this problem involve automatedcountering algorithms in an aircraft's stability augmentation system,though, again, the effect of these measures is limited. At times, crewchiefs who remain within a helicopter during an extraction try to affecta suspended load by pushing or pulling a suspension cable from thehelicopter; such efforts have limited effect and can be hazardous.Carriers may move loads at slow rates to minimize horizontal or pendularmotion or may use additional suspension cables or dedicated controlcables (whether on the ground, neighboring structures, or on a carrier);these measures increase costs, complexity, and risk of failure. All ofthese measures are inadequate and highly problematic.

In various embodiments, as described further herein, a suspended loadcontrol system provides control of a load, independent from a carrier.The suspended load control system or load stability system (referred totogether as, “SLCS”) of this disclosure controls a load by exertingforce from thrusters, fans, or propellers, as are found in electricducted fans at, or near, the location of the load. Thrusters, fans,propellers and electric ducted fans are referred to herein as “EDFs”.Vector thrust force produced by the EDFs may be used to counteract yawand pendular motion, may be used to translate a load horizontally, suchas to avoid an obstacle or to move a load into an offset positionrelative to a normal lowest-energy hanging position, or may otherwise beused to control the fine location and yaw of a load, independently fromthe carrier. Consequently, an SLCS enhances mission safety and improvesperformance of carrier and load operations as the SLCS dynamicallycontrols fine location and yaw of a load, separate from motion of thecarrier.

As disclosed herein, an SLCS controls the motion of a suspended loadthrough a system that may be releasably secured to or incorporated intothe suspended load or a structure that holds the suspended load. TheSLCS is agnostic with respect to the platform from which the load issuspended (e.g., the characteristics of a helicopter “ownship”, or acrane, etc., or other carrier), as it independently determines thrustnecessary to stabilize the load or to direct the load in a desireddirection. This permits widespread adoption of the system regardless ofcarrier type, lowering cost and mitigating solution risks.

An SLCS can provide benefits to, for example, helicopter search andrescue (“SAR”) and sling load operations, forest fire helicopters, craneoperations, construction sling load operations, and civilianfirefighting.

An SLCS may be releasably secured to an existing structure designed tohold other loads, such as litters, cages, platforms, or the like or anSLCS may be integrated into a structures designed to hold other loads.

Reference is now made in detail to the description of the embodimentsillustrated in the drawings. While embodiments are described in relationto the drawings and related descriptions, there is no intent to limitthe scope to the embodiments disclosed herein. On the contrary, theintent is to cover all alternatives, modifications and equivalents. Inalternate embodiments, additional devices, or combinations ofillustrated devices, may be added to, or combined, without limiting thescope to the embodiments disclosed herein.

For example, the embodiments set forth below are primarily described inthe context of a helicopter sling load, search and rescue operations,and/or crane operations. However, these embodiments are illustrativeexamples and in no way limit the disclosed technology to any particularapplication or platform.

FIG. 1 is a perspective view of an embodiment of a litter-SLCS assembly105, wherein litter 115 is releasably secured to an embodiment of anSLCS, SLCS 111. Illustrated in FIG. 1 is axis 195. Axis 195 illustrate3-dimensional axis, including an X axis, a Y axis, and a Z axis. Axis195 is illustrated with the X axis parallel to the long normal axis oflitter 115, and with Y axis and Z axis perpendicular to the X axis andperpendicular to one another. Axis 195 further illustrates rotation, oryaw, about the Y axis. When references are made herein to clockwise orcounter-clockwise yaw or to the right or left side of an SLCS, suchreferences are made from a perspective of a party looking up from alying position on the litter or equipment comprising the SLCS. Axis 195are illustrated to provide a frame of reference to describe orientationof other components and are not a physical component.

Litter 115 may be, for example, a Stokes basket or Stokes litter, astretcher, or a basket. Litter 115 may be designed to hold a human orother load. The human may be strapped to litter 115. Litter 115 mayinclude a cervical collar, a spine board, and the like to immobilize thehuman. Litter 115 may include sides designed to withstand impacts.Litter 115 may include handles. Litter 115 may be existing inventory orequipment used by a SAR unit. Litter 115 is an example of a structurethat holds a load.

SLCS 111 is illustrated as comprising frame 110. Frame 110 may be madeof metal, plastic, and/or a composite material, such as fiber reinforcedresin. SLCS 111 and frame 110 are discussed further in relation to FIG.2.

FIG. 2 a perspective view of SLCS 111 of FIG. 1, without litter 115.SLCS 111 comprises two fan units, fan unit 120A and 1206. A greater orlesser number of fan units may be used. For example, additional fanunit(s) perpendicular to, or with another offset relative to, fan units120A and 120B may be incorporated into SLCS.

Fan unit 120 may comprise a cowl which protects one or more EDF. Thecowl may be hardened to withstand impact with the environment. The cowlunit may be made of metal, plastics, composite materials, includingfiber reinforced resin, and the like. Fan unit 120 may include airintake 121, though which air may be drawn, and outlet 122. Air intake121 may comprise one or more screens or filters to prevent entry of someobjects into EDF. As illustrated by way of the example in FIG. 2, fanunit 120 may comprise two EDF. The EDF in fan unit 120 may compriseblades and motor(s), such as electric motor(s). The electric motorswithin an EDF may be sealed against dust, sand, water, and debris.

The two EDF in fan unit 120 propel thrust fluid (such as air) in fixeddirections, as illustrated, along the Z axis. In the embodimentillustrated in FIG. 2, the fixed directions are opposite each other onthe Z axis; e.g. offset by 180 degrees along the Z axis. In otherembodiments, a fewer or greater number of EDF may be used. In otherembodiments, the EDF may be aligned other than as illustrated, e.g.,offset by greater or fewer than 180 degrees, with or without offsetalong other of the axis. A mechanical steering component may be included(not illustrated) to dynamically reposition fan unit 120 and/or EDFwithin fan unit 120.

EDF in fan unit 120 may be activated individually or together, with thesame or different power to the EDF, to produce thrust vectoring orthrust vector control of an assembly of fan units. For example, toproduce clockwise yaw, an EDF in a left side of fan unit 120B may beactivated by itself or in conjunction with an EDF in a right side of fanunit 120A. To produce left-ward lateral translation of SLCS-litterassembly 105 along the Z axis, EDF in the right side of both fan units120A and 120B may be activated. Simultaneous lateral translation androtation may be produced.

Illustrated in FIG. 2 is housing 140. Housing 140 may contain andprotect computer hardware, such as a computer processor and memory, apower supply, electronic speed controllers, microcontrollers, sensors,and the like, such as load control system logical components 1601 andelectrical component illustrated in FIGS. 24-26. Housing 140 may besecured to, for example, frame 110 as in FIG. 1. The power supply may bea single power brick or single battery or an array of battery cellswired in series and/or in parallel, such as lithium-polymer (LiPo) orlithium metal hydride (LiMH) cells. Batteries may be removable fromhousing 140 for inspection and/or to swap out or exchange discharged andcharged batteries. Batteries in housing 140 may be charged whileinstalled in the SLCS (i.e., without having to remove them) via nodes ora wireless charging system on or in SLCS 111 that is secured to acharging dock. Batteries may include auxiliary battery(ies) to supply asteady supply of power to processor, communications, and the like evenif thrusters in fan units 120 draw a relatively large amount of powerfrom and even deplete main batteries. In embodiments, a carrier, such asa helicopter or crane, from which the SLCS may suspended may providepower through a line extending down a suspension cable to the SLCS. Inembodiments, the carrier may provide some power to the SLCS, while theSLCS may obtain other power from an on-board power supply. In variousembodiments, the SLCS may be powered by a combination of on-board andremote power. In environments, all power for the SLCS may be containedon board, allowing fully autonomous operation without dependence on theavailability of external power sources or delivery means.

Housing 140 may comprise a wireless or wireline data link which allows amicrocontroller unit or processor to, among of functions, monitor powerinformation including (but not limited to) cell voltage and real-timepower dissipation or consumption. Other uses of such a data link arediscussed herein.

Housing 140 may comprise a power controller to allow a computerprocessor and memory and, for example, a thrust control module in thememory, to control the speed, power draw, and thrust of thrusters in theEDF. The power controller may comprise, e.g., an electronic speedcontroller (“ESC”) for an EDF. An ESC typically has at least threecouplings: to the power supply, to a thruster, and to the processor or amicrocontroller. The ESC and power controller pulls power from the powersupply and allocates it to the thrusters to control the amount of thrustproduced by the EDF.

Housing 140 may comprise a computer processor or central processing unit(CPU) and memory. The processor and memory may be an embedded systemincluding a signal board computer and one or more microcontroller units(“MCUs”) and memory units. The CPU, MCUs, and memory may be containedwithin, e.g., housing 140, in which data link couplings may be made.Housing 140 may be a rugged plastic or polymer, protecting the systemfrom environmental and operational factors such as weather and otheroperational conditions. In some embodiments, the CPU, MCUs, and memorymay be mounted to the same printed circuit board (PCB).

Housing 140 may comprise one or more wireless transceivers, which maycomprise separate transmitter(s) and receiver(s), as well as antennasfor wireless communication. The transceiver and/or wireless antennas mayalso be mounted to or printed on the same printed circuit board as CPU,MCUs, and memory. The wireless transceivers may comprise access pointsfor Bluetooth, Wi-Fi, microwave, and/or radio frequency (RF)transmission and reception. Wireless transceivers may be used tocommunicate with remote sensors, a remote control interface, a remotepositional unit or target node, a remote interface, and the like, asdiscussed further herein.

Housing 140 may comprise a vector navigation unit, which may include aninertial measurement unit (“IMU”). The IMU may provide inertialnavigation data to the processor. IMU may be located in or proximate tofan unit 120.

SLCS 111 may comprise or be communicatively coupled to one or moresensors in addition to the IMU. Such additional sensors may comprise,for example, an inertial measurement system, an orientation measurementsystem, and an absolute position measurement system. The inertialmeasurement system (“IMS”) may include 3 degrees of freedom (3DOF)accelerometers, gyroscopes, and gravitational sensors, which maycomprise microelectromechanical systems (MEMS) sensors. The orientationmeasurement system may include a magnometer or magnetometer such as acompass, an inclinometer, a directional encoder, and a radio frequencyrelative bearing system. The absolute position measurement system mayinclude global positioning system (GPS) sensors.

Sensors may further comprise a proximity sensor, such as a depth camera,or light detection and ranging (LIDAR) system (e.g., rotating orlinear), and/or an optical sensor such as one or more cameras, infrared(IR) sensors, and/or distance or depth sensors. Proximity sensors mayinclude ground height sensors. Optical sensors may also provide visualinformation to a user. This information may be communicated to remotedevices by the SLCS processor, via a data link cable and/or the wirelesstransceiver. Proximity and optical sensors may allow the system to becapable of 360 degree awareness, to determine distance between a sensorand points or objects in the environment, perform collision avoidancethrough detection of obstacles (e.g., a portion of a tree canopy),altering the course of the SLCS or the orientation of a load to avoidthe obstacles, and/or to avoid obstacles in the environment by rotatinga load to equalize distance between sensors at distal ends of the loadand obstacles in the environment and/or by presenting a smallest frontalarea of the load to obstacles in the environment. The system may also becapable of providing ground (or water) position data to aircraft pilotand crew.

Sensors which require a view of a surrounding environment may be placedon or at the surface of housing 140 and/or remote from housing 140. Byway of example, embodiments of placement locations for such sensors areillustrated in FIG. 10 at sensor location 825A, 825B, and 825C. Thesesensor locations are illustrated as examples; other sensor locations maybe utilized.

Additional SLCS sensors may include a strain sensor to gauge stain onhousing 140, on fan unit(s) 120, on conduits, such as conduit 135, on asecurement to a suspension cable, on a suspension cable, and the like.Additional sensors may include a rotational encoder or thruster speedsensor which may be incremental or absolute, and a shutdown pin presencesensor.

A plurality of sensors may collectively be referred to as a sensorsuite.

SLCS 111 may use remote positional sensors or beacons, remotecomputational units, remote cameras, or target node transceiver devicesto assist in characterizing the location and/or motion of the suspendingload and/or SLCS 111 (e.g., relative to a helicopter ownship), thecarrier, and a target location of interest such as a person to rescue ora load destination.

The SLCS processor executes modules with respect to sensor system datato yield a desired system response. For example, GPS sensor data may berefined through real-time kinetic (RTK) algorithms to develop a refinedabsolute position. Measurements may be fused together through non-lineardata fusion methods, such as Kalman filtration methods, to yield optimalstate estimates in all degrees of freedom to characterize the system'slocation and motion in geodetic space.

Examples of components which may be within SLCS and housing 140 andwithin remote positional sensors or beacons, remote interfaces, ortarget node transceiver devices are discussed further herein, such as inrelation to FIGS. 16, 24, 25, and/or 26.

Housing 140 may be formed of any suitable material such as metal,plastic, composite materials, such as fiber reinforced resin. Housing140 may allow access into the internal space of housing 140 via a sealedhatch or one or more removable panels, allowing for maintenance andinspection.

FIG. 2 further illustrates slider rail 155 and expansion rod 130.Expansion rod 130 and slider rail 155 may allow fan units 120A and 120Bto be repositioned within frame 110, such as to positions closer orfurther away from a center of frame 110 and/or housing 140. Expansionrod 130 and slider rail 155 are examples of mechanism to allow fan unitsto be repositioned within frame 110; all mechanisms to allow fan unitsto be repositioned within frame 110 may be referred to herein as“repositioning mechanism”. Expansion rod 130 may be spring-loaded, maycomprise a jackscrew, a piston, or the like, which components may beactivated by a human, by an electronic actuator, or the like. Fan units120 may be repositioned for a variety of reasons, such as to place fanunits 120 further toward the edges of a load to which SLCS 111 issecured, which may increase the rotational force imparted by activationof an individual EDF. Fan units 120 may be repositioned to accommodateobstructions posed by a secured load, such as if a load in or secured toSLCS 111 has a projection that is incompatible with a location of a fanunit 120. Two expansion rods are illustrated in FIG. 2, though less thantwo or more than two expansion rods may be used in embodiments.

FIG. 2 further illustrates conduit 135. Conduit 135 may contain orcomprise power and/or data or other communication conduits; for example,conduits within conduit 135 may provide power to fan units 120 as wellas data conduits to obtain sensor or other information from remotesensors, and the like. Conduit 135 may comprise a coil, such as aspring-loaded coil, to allow conduit 135 to expand or contract as fanunits 120 are moved relative to housing 140. By way of example, excessconduit 135 may retract within housing 140. Conduit 135 may beincorporated into expansion rod 130. Conduit 135 may comprise a seriesof wires bundled into a single cable with couplings such as, but notlimited to, multipole ruggedized couplings such as EC5 couplings, suchas coupling 2430.

FIG. 2 further illustrates releasable clasp 150. Releasable clasp 150 isfurther illustrated and discussed in relation to FIG. 3.

FIG. 3 is a detail perspective view of components to releasably securean SLCS to a load, in accordance with an embodiment. Releasable clasp150 is an example of means to secure housing 140 or another component ofan SLCS to a range of existing loads. In the illustrated embodiment,releasable clasp 150 is designed to fit against rungs or crossbars of alitter, such as litter 115. Clasp 150 is illustrated as comprising claspexpansion rod 145. Clasp expansion rod 145 may be spring-loaded, maycomprise a jackscrew, a piston, or the like, which components may beactivated by a human, by an electronic actuator, or the like. Ends ofreleasable clasp 150 may comprise bracket 165, which may fit againstrungs or crossbars of a litter, to thereby secure housing 140 to alitter. Bracket 165 may secure to roller 160. Roller 160 may travelwithin roller track 162, allowing brackets 165 to be positioned relativeto a range of rungs or crossbars of a litter. Roller 160 may be releasedor locked in place within or to track 162. Bracket 165, roller 160, andtrack 162 are examples of components which may allow components of anSLCS, such as a housing, a fan unit, a conduit, or the like, to besecured to a load. Other examples include mounting plates with holeswhich may allow a secured component to be bolted to a load. Otherexamples include clips which may allow a secured component to be clippedto a load. Other examples include webbing, which may allow a securedcomponent to be strapped to a load. Other examples include flanges.Other examples include arms that may be extended or contracted toreleasably secure to a load or to a structure that holds a load.

FIG. 4 is a perspective view of an SLCS to be releasably secured to aload, in accordance with an embodiment. In the example embodimentillustrated in FIG. 4, housing 140 and fan units 120 are not within aframe, such as frame 110, but may be independently and releasablysecured to a load or to a structure that holds a load. Brackets 142 inFIG. 4 are illustrated as being drilled, to allow bolting to a crossbeamor similar component of a load or a structure that holds a load. Inembodiments, brackets 142 may comprise or work with straps, to allow fanunit 120 to be strapped to a load. Brackets 142 may comprise or workwith quick-release bolts, nuts, and levers. Brackets 142 are anotherexample of components may be used to secure a fan unit or anothercomponent of an SLCS to a load. In embodiments, housing 140 and one ormore fan units may be within one housing.

FIG. 5 is a perspective view of the SLCS of FIG. 4 releasably secured toa litter, as litter-SLCS assembly 505. In litter-SLCS assembly 505, fanunits and housing are secured to rungs or crossbars of the litter. Inembodiments in which conduit 135 is within an expansion rod, expansionrod and conduit may be expanded to where fan unit 120 may be secured tothe load, and the fan unit 120 may then be releasably secured to theload, such as, for example, using bracket 142 or other hardware orcomponents provided to releasably secure such components.

FIG. 6 is a perspective view of an SLCS releasably secured orincorporated into a basket structure for holding a load as SLCS-basketassembly 605, in accordance with an embodiment. In SLCS-basket assembly605, basket 630 may be secured to housing 625, power supply housings620A and 620B, and fan units 615A and 615B. SLCS-basket assembly 605 maybe secured to a carrier, such as a helicopter or crane, via load bearingconnector line 610 and main load bearing line (see FIG. 7, 611). Housing625 may comprise components similar to those of housing 140; fan units615A and 615B may be similar to fan units 120. Housing 625, power supplyhousings 620A and 620B, and fan units 615A and 615B may be permanentlyor releasably secured to basket 630.

Power supply housings 620A and 620B may include a power supply,electronic speed controllers, microcontrollers, sensors, and the like.Power supply housings 620 may be located proximate to fan units, such asfan units 615, to reduce losses and signal latency that may otherwiseoccur when power is transmitted between a power supply and a powerdrain, such as a fan unit 615. Similar to the power supply in housing140, the power supply in power supply housing 620 may be a single powerbrick or single battery or an array of battery cells wired in seriesand/or in parallel, such as LiPo or LiMH cells. The batteries may beremovable for inspection and/or to swap discharged and chargedbatteries. Batteries in power supply housing 620 may be charged whileinstalled on a load (i.e., without having to remove them) via nodes or awireless charging system on or when coupled to a charging dock.

A data or other communication link between housing 625 and power supplyhousings 620 may allow a microcontroller unit or processor in housing625 to monitor power information including (but not limited to) cellvoltage and real-time power dissipation or consumption and to control apower controller in power supply housings 620, to allow a computerprocessor to control the speed, power draw, and thrust of thrusters inEDFs in fan units 615.

FIG. 7 illustrates a perspective view of SLCS-basket assembly 605,further illustrating a relationship with helicopter 635. Helicopter 635may represent any carrier. An arm may project out of helicopter 635. Ahoist on such arm may be used to raise and lower SLCS-basket assembly605 relative to helicopter 635. An interactive display or remoteinterface in or of helicopter 635 may be used to control SLCS-basketassembly 605 to stabilize and/or control the fine position andorientation of SLCS-basket assembly 605 relative to helicopter 635and/or relative to a remote positional unit or target node, as discussedfurther herein. Without the SLCS of SLCS-basket assembly 605, the cableand SLCS-basket assembly 605 are subject to develop yaw or pendularmotion. With the SLCS of SLCS-basket assembly 605, yaw and/or pendularmotion may be counteracted, so that SLCS-basket assembly 605 may bedelivered to a desired point or location of interest.

FIG. 8 is a perspective view of components of an SLCS integrated intolitter 825, as integrated litter-SLCS assembly 805, in accordance withan embodiment. In integrated litter-SLCS assembly 805, fan units 810,housing 820, and (optional) power supply housings 815 are permanentlyintegrated into litter 825, rather than being separate modularcomponents that may be releasably secured to a litter or other load viaload securement components. In integrated litter-SLCS assembly 805, fanunits 810 may be similar to fan units 120, housing 820 may be similar tohousing 140, and power supply housings 815 may be similar to powersupply housings 620, though without releasable securement components toallow these components to be secured to a range of loads. In addition oralternatively, power supply housings 815 and/or fan units 810 may act asbumpers, cushions, or shock absorbers to absorb impact of integratedlitter-SLCS assembly 805 with objects in the environment. The locationand position of fan units 810, housing 820, and (optional) power supplyhousings 815 in the litter of integrated litter-SLCS assembly 805 areillustrated as examples; other locations or positions may be used,consistent with the disclosure herein.

FIG. 9 is a perspective view of power and/or data conduits 930 and 935of an SLCS 905, in accordance with one embodiment. For the sake ofclarity, SLCS 905 is disembodied from a load and from load securementcomponents. Power and/or data conduits 930 and 935 may contain orcomprise power and/or data or other communication lines or couplings.Power and/or data conduits 930 and 935 may be integrated into a frame orsuperstructure of a load or of a structure to hold a load or may belocated in conduits secured to a frame or superstructure of a load,similar to conduits 135. In an embodiment, data conduit 935 may comprisedata or other communication lines to convey control signals from aprocessor or other components in housing 820 to power supply housings815, while power and/or data conduit 930 may comprise power as well asdata or other communication lines between power supply housings 815 andfan units 810. In this embodiment, resistance, induction, signal delayand other problems caused by powerlines between a power supply and amotor are reduced.

FIG. 10 is a perspective view of sensors in or of an SLCS, in accordancewith one embodiment and using integrated litter-SLCS assembly 805 as anexample. Sensor locations 825A, 825B, and 825C are examples of sensorlocations that provide a view in a downward and/or horizontal direction;equivalent sensors at mirror locations are illustrated, though notlabeled. Other sensor locations may be chosen to provide other views,such as upward. Sensors in sensor locations 825A, 825B, and 825C mayinclude, for example, water sensors, near-field communication sensors ortransceivers, a proximity sensor or light detection and ranging (LIDAR)system (e.g., rotating or linear), and/or an optical sensor such as oneor more cameras or infrared (IR) sensors. Proximity sensors may includeground height sensors. Optical sensors may also provide visualinformation to users. This information may be communicated to and by aprocessor and communication equipment in an SLCS and to a remote controlor remote interface, or the like, via a data link cable and/or wirelesstransceiver. Proximity and optical sensors allow the system to becapable of 360 degree awareness and collision avoidance by detectingobstacles (e.g., a portion of a tree canopy) and altering the course ofthe SLCS to avoid the obstacles or by detecting environmental conditions(e.g. water, proximity to a target or to a carrier) and responding asprogrammed, such as by shutting fan units down, initiating visualsignaling devices, or the like. The system is also capable of providingground (or water) position data to aircraft pilot and crew.

FIG. 11 is a perspective view of integrated litter-SLCS assembly 805 ofFIG. 8, further illustrating a relationship with helicopter 1105. As inthe example of FIG. 7, helicopter 1105 may represent any carrier. An armmay project out of helicopter 1105. A hoist on such arm may be used toraise and lower SLCS-basket assembly 805 relative to helicopter 1105.Rotational pivot 1106 may allow integrated litter-SLCS assembly 805 torotate, without winding up or unwinding the suspension cable. Aninteractive display or remote interface in or of helicopter 1105 may beused to control litter-SLCS assembly 805 to stabilize and/or control thefine position and orientation of litter-SLCS assembly 805 relative tohelicopter 1105 and/or relative to a remote positional unit or targetnode, as discussed further herein. Without the SLCS of IntegratedLitter-SLCS assembly 805, the cable and integrated litter-SLCS assembly805 are liable to undergo yaw or develop pendular motion. With the SLCSof integrated litter-SLCS assembly 805, yaw and/or pendular motion maycounteracted, so that integrated litter-SLCS assembly 805 may morequickly be delivered to a desired point or location of interest withreduced risk.

FIG. 12 illustrates a perspective view of an embodiment of an SLCS 1215unit secured to load 1210, as SLCS-load assembly 1205. Securement may bebolts, straps, quick-release bolts and levers, and the like. SLCS-loadassembly 1205 may be secured to a carrier via suspension cables 1220.Load 1210 may comprise, for example, a generator, a structural box orcontainer, or the like. Load 1210 is illustrated with structural memberson its top; Load 1210 may comprise other or alternative structuralmembers.

FIG. 13 is a detailed perspective view of mounting components of SLCS1215 unit of FIG. 12, in accordance with one embodiment. Mountingcomponents may be designed to allow an SLCS to be secured to a range ofloads. In the example illustrated in FIG. 13, the mounting componentscomprise track 1225 and rollers 1230. Rollers 1230 may be secured toload 1210, such as to bolt holes or other securement locations instructural members of load 1210. Rollers 1230 may be released, to allowrollers 1230 to translate along track 1225, to allow rollers 1230 to besecured to a range of bolt holes or other securement structures instructural members of load 1210. When moved to an appropriate location,rollers 1230 may be secured to bolt holes or other securement structuresin structural members of load 1210 and may be tightened, to securerollers 1230 to track 1225 and to prevent rollers 1230 from slidingwithin track 1225. In other embodiments, mounting components maycomprise straps, webbing, clips, hooks, bolts, and the like.

FIG. 14 is a perspective view of SLCS-load assembly 1405, in oneembodiment, illustrating a first example of securement locations of fanunit 1410 and power supply housing 1415 on load 1425. Securement may bevia securement components as discussed herein (not illustrated).Communication of power and data between fan unit 1410, power supplyhousing 1415, and housing 1420 may be via conduits (not shown), asdiscussed herein. Housing 1415 may be similar to housing 140. Fan unit1410 may be similar to fan unit 120. Power supply housing 1415 may besimilar to power supply housing 620. Securement of fan unit 1410 andpower supply housing 1415 at the locations illustrated in FIG. 14,proximate to a bottom of load 1425, may allow sensors on or of fan unit1410 and power supply housing 1415 to have greater downward view, withless obstruction by load 1425 than might otherwise be the case.

FIG. 15 is a perspective view of SLCS-Load Assembly 1405, in oneembodiment. This embodiment illustrates a second example of securementlocations of fan unit 1410 and power supply housing 1415 to load 1425.Securement may be via securement components as discussed herein. Thelocations of fan unit 1410 and power supply housing 1415 illustrated inFIG. 15 may allow sensors on or of fan unit 1410 and power supplyhousing 1415 to have greater upward view, with less obstruction by load1425 than might otherwise be the case.

FIG. 16 schematically illustrates suspended load control system logicalcomponents 1601 and remote interface logical components 1650 inaccordance with one embodiment. Within load control system logicalcomponents 1601 are sensor suite 1605, which may include positionsensors 1606, orientation sensors 1607, inertial sensors 1608, proximitysensors 1609, reference location sensors 1610, thrust sensors 1611, andcameras. The SLCS processing capacity 1620 includes a computer processorand microcontrollers. SLCS memory 1625 generally comprises arandom-access memory (“RAM”) and permanent non-transitory mass storagedevice, such as a solid-state drive, and contains navigation systems1626, target data 1627, mode or command state information 1628, andsoftware or firmware code, instructions, or logic for one or more ofoperational module 1700 and suspended load control decision and thrustcontrol module 1800. Communication systems 1630 include wireless systems1631 such as a wireless transceiver, and wired systems 1632. SLCS output1615 includes thrust control 1616 via power controllers or ESCs. Powermanaging systems 1640 regulate and distribute the power supply from,e.g., the batteries. A data bus couples the various internal systems andlogical components of load control system logical components 1601.

An interactive display, remote interface, remote positional unit, ortarget node may be a computational unit comprising one or more of remoteinterface logical components 1650; such a unit may be self-powered orhardwired into an airframe. The remote interface logical components 1650receive data from and/or send data to the SLCS, e.g., wirelessly. Thedata from the SLCS may be displayed in display 1661 of remote interfacelogical components 1650; the computational data is parsed and convertedto visual cues. Remote interface logical components 1650 may alsocommunicates the SLCS the operator's desired command states andoperational instructions, as discussed below.

Remote interface logical components 1650 may be in communication withload control system logical components 1601 via communication systems1670, which may be wireless 1671 or wired 1672. Output 1660 from remoteinterface logical components 1650 may include information displayed on ascreen or display 1661, and auditory cues or access to remote audio(such as audio detected by sensors in a load) via audio output 1662.Input 1665 to remote interface logical components 1650 to control anSLCS may include commands through a touchscreen 1666 or a joystick 1667or other input interface. In various embodiments, remote interfacelogical components 1650 may comprise one or more physical and/or logicaldevices that collectively provide the functionalities described herein.

Aspects of the system may be embodied in a specialized or specialpurpose computing device or data processor that is specificallyprogrammed, configured, or constructed to perform one or more of thecomputer-executable instructions explained in detail herein, inconjunction with suitable memory. Aspects of the system may also bepracticed in distributed computing environments where tasks or modulesare performed by remote processing devices and memory that are linkedthrough a communications network, such as a local area network (LAN),wide area network (WAN), or the Internet. In a distributed computingenvironment, modules may be located in both local and remote memorystorage devices. As schematically illustrated in FIG. 16, load controlsystem logical components 1601 and remote interface logical components1650 are coupled by a wired or wireless network.

Load control system logical components 1601 may work with a remotepositional unit, remote interface, or target node comprising one or moreremote interface logical components 1650, in accordance with oneembodiment. The remote positional unit, remote interface, or target nodemay comprise an internal or external sensor suite, such as sensors 1668,configured to communicate, such as wirelessly, with load control systemlogical components 1601 as a positional reference. Sensors 1668 may besimilar to sensors METHODS 1605. If sensors 1605 are considered theprimary sensor suite, a secondary sensor suite location may be theplatform or carrier from which a suspension cable is suspended, sensors1668 in or in communication with remote interface logical components1650, and a tertiary sensor suite location may be a location of interestfor the load (e.g., for positioning to obtain or deliver the load).Remote interface logical components 1650 may further comprise processor1669 and memory 1673, which may be similar to processor 1620 and memory1625. Memory 1673 may comprise software or firmware code, instructions,or logic for one or more modules used by the remote positional unit,remote interface, or target node, such as remote interface module 1674.For example, remote interface module 1674 may provide control andinterface for a remote positional unit, remote interface, or targetnode, such as to allow it to be turned on/off, to pair it with an SLCS,to input instructions, or the like.

A remote positional unit may include a transceiver configured tocommunicate with load control system logical components 1601 via awireless transceiver and provide a positional reference. For example, aremote positional unit may be secured to a helicopter ownship or cranebelow which the load is suspended and/or a remote positional unit may besecured to a load.

In some embodiments, the remote positional unit, remote interface, ortarget node may be made of durable polymer or plastic, large enough tofit into a hand. The remote positional unit, remote interface, or targetnode may have an external antenna. The remote positional unit, remoteinterface, or target node may be secured to, e.g., the helicopter bymagnets, bolts, or any other securement mechanism. The remote positionalunit, remote interface, or target node may be dropped to a location onthe ground or secured to, e.g., a life preserver or other flotationaldevice, a rescuer, a load to be picked up, a location for a load to bedelivered, or an operational specific location.

Aspects of the load control system logical components 1601 and/or remoteinterface logical components 1650 may be embodied in a specialized orspecial purpose computing device or data processor that is specificallyprogrammed, configured, or constructed to perform one or more of thecomputer-executable instructions explained in detail herein. Aspects ofthe load control system logical components 1601 and/or remote interfacelogical components 1650 may also be practiced in distributed computingenvironments where tasks or modules are performed by remote processingdevices that are linked through a communications network, such as alocal area network (LAN), wide area network (WAN), or the Internet. In adistributed computing environment, modules may be located in both localand remote memory storage devices. As schematically illustrated in FIG.16, load control system logical components 1601 and remote interfacelogical components 1650 may be coupled by a wired or wireless network.

FIG. 17 illustrates an example of operational module 1700 of a suspendedload control system (“SLCS”) including multiple mode or command statemodules in accordance with one embodiment. Instructions of, or whichembody, decision and operational module 1700 may be stored in, forexample, memory 1625, and may be executed or performed by, for example,processor 1620, as well as by electrical circuits, firmware, and othercomputer and logical hardware of SLCS with which operational module 1700may interact. In embodiments, computer processors and memory to performsome or all of operational module 1700 may be remote from SLCS, such asin an auxiliary computer in, for example, a carrier.

In block 1705, a suspended load control system apparatus may beinstalled onto a load and/or onto a cable from which a load will besuspended. The suspended load control system apparatus need not bepowered on for installation.

In block 1710, the suspended load control system (“SLCS”) in theapparatus may be started up and operational module 1700 activated. Insome embodiments, operational module 1700 may be initialized by thepress of a button located on a face of a control module of the SLCS.Near the accessible external button which may initialize operationalmodule 1700, another button may be present that allows for immediateshut down when pressed. In addition to the initialization interface onthe center or control module, operational module 1700 may also beinitialized by an operator not directly next to the system. One or moreexternal operators, including but not limited to a rescuer on the end ofthe cable, may initialize operational module 1700 by pressing a buttonon one or more remote interface linked wirelessly to operational module1700. One or more modules of a complete SLCS, such as physicallyseparated control unit, fan unit, and the like (as illustrated in, forexample, FIG. 27), may be started up in block 1710 and may be paired tofunction together. During block 1710, operational module 1700 maydetermine a relative orientation of fan units which operational module1700 is to control. This determination may be based on sensorinformation from the fan units, such as a compass heading sampled fromeach fan unit. This determination may be performed to adjust for fanunits which are not parallel to one another, as may be the case when amodular SLCS is deployed on an irregular load, such as a rope or webbingenclosed load, and the fan units may not be parallel. This determinationmay be used in block 1830, with respect to fan mapping. Thisdetermination may not be necessary when the SLCS is in a rigid frame andthe fan units may be presumed to be parallel to one another. Thisdetermination may produce an error condition if the fan units are notwithin an acceptable orientation range.

In block 1715, operational module 1700 is activated in and/or receives afunctional mode or command state selected by the operator. In block1720, operational module 1700 may perform or call suspended load controldecision and thrust control module 1800 as a subroutine or submodule, toimplement a functional mode or command state. The functional modes orcommand states of the system are:

Idle mode 1721: internal systems of the SLCS are operating (e.g.,operational module 1700 observes motion of the SLCS and calculatescorrective action), but the thrusters are shut off or maintain an idlespeed only, without action to affect the motion of the load.

Maintain relative position vs. ownship mode 1722: stabilizes the SLCSwith respect to a slung origin point. For example, when SLCS issuspended with a load below a helicopter, SLCS will stay directly belowthe helicopter. Maintain relative position vs. ownship mode 1722localizes the ownship motion and performs the corrective actionsnecessary to critically damp any other suspended load motion. If theownship is traveling at a low speed, maintain relative position vs.ownship mode 1722 will couple the velocity so the two entities aremoving in unison. Upon a disturbance to the load, maintain relativeposition vs. ownship mode 1722 provides thrust in the direction of thedisturbance to counteract the disturbance, eliminating the swing.

Move to/stop at position mode 1723: will stabilize an SLCS to a fixedposition, counteracting the influence of the weather or small movementsof the helicopter or other suspending platform. This mode has the effectof killing all motion. The operator may send the desired target positionto SLCS via a remote interface. This may be accomplished in at least twoways:

Target node position 1724: The operator may place reference locationsensors 1668 at the desired lowering location (e.g., location 2815 ofFIG. 28). Reference location sensors 1668 may communicate wirelesslywith target node position 1724 module to indicate the desired position,and target node position 1724 module responds by maneuvering the SLCS tothe desired location. Remote interface display 1661 may receive anddisplay the location information of both entities.

User-designated position/orientation 1725: The operator may use theremote interface display 1661 to send a designated position (e.g.,latitude and longitude coordinates) or orientation as a commandedlocation to user-designated position/orientation 1725 module. The systemwill then steadily direct the suspended load to the desired position orto the desired orientation. The system will simultaneously send feedbackto remote interface logical components 1650 regarding position,distance, and orientation information.

Hold position mode 1726: will resist all motion of an SLCS and maintaincurrent position and/or orientation independent of the ownship's motion.This module has the effect of killing all motion. This module hasconditional responses respectively to ownship speed, safety factors, andphysical constraints.

Direct control mode 1727: Joystick operation of an SLCS in three degreesof freedom. Though operational module 1700 is entirely closed loop anddoes not require external control during operation, there is an optionfor user control. The operator is able to provide input to directcontrol mode 1727 module to directly control positioning, rotation, andthruster output level.

Obstacle avoidance module 3800 module: receives and processes sensorinformation such as to i) to equalize the distance between sensorlocations, such as at fan units, and objects, such as obstacles, sensedin the environment or ii) to measure or receive geometry of a load,measure geometry of obstacles sensed in the environment, determine orreceive the position, orientation, and motion of the load, and negotiatethe load relative to the obstacle. Please see, for example, FIG. 3800and discussion of obstacle avoidance module 3800.

In block 1730, the operator completes the operation and retrieves SLCS.

In block 1735, operational module 1700 may be shut down by pushing abutton on the interactive display or by pressing the button on thecenter module of the SLCS apparatus. If the SLCS apparatus includescollapsible frame, propulsion arms or fan units, they may be folded up.If the SLCS apparatus includes removable modules, such as for fan units,a housing, a power supply housing, and the like, the modules may beremoved from a load, disassembled. The load may be detached from a loadhook or the like, and then a suspension cable may be detached from ahoist ring at the top of the load and/or SLCS. SLCS may then be stowedin or electrically connected to charger and/or any suitable location.

FIG. 18 illustrates a decision and thrust control module 1800 of asuspended load control system in accordance with one embodiment.Instructions of, or which embody, decision and thrust control module1800 may be stored in, for example, memory 1625, and may be executed orperformed by, for example, processor 1620, as well as by electricalcircuits, firmware, and other computer and logical hardware of SLCS withwhich decision and thrust control module 1800 may interact. Inembodiments, computer processors and memory to perform some or all ofdecision and thrust control module 1800 may be remote from SLCS, such asin an auxiliary computer in, for example, a carrier.

Decision and thrust control module 1800 may operate in a closed loop tounderstand its position and motion in near real time, determine a mostdesired system response, and send desired response(s) to the airpropulsion system thruster array to mitigate swing of the cable orotherwise control a load during operations

At block 1805, decision and thrust control module 1800 may obtain datafrom sensors such as, for example, sensors 1605, such as accelerometer,gyroscope, magnetometer, GPS, lidar/radar, machine vision, and/or rangefinders.

In block 1810, decision and thrust control module 1800 combines datafrom the sensors to obtain a data fusion describing position,orientation, motion, and environment of the SLCS apparatus.

Sensor data is fused and filtered by the SLCS through non-linear flavorsof a Kalman Filter to yield an accurate representation of the system'sstate. Closed-loop control methods including fuzzy-tuned proportional,integral, and derivative feedback controllers have bidirectionalcommunication with advanced control methods including deep learningneural nets and future propagated Kalman filters, allowing for furtherreal-time system identification.

In block 1815, decision and thrust control module 1800 performs stateestimation using non-linear state estimators to project near-term futuremotion based on the data fusion and on feedback from the decision andcontrol engine to the state estimator.

In block 1817, decision and thrust control module 1800 receives afunctional mode selection, such as according to user input.

In block 1820, decision and thrust control module 1800 takes the stateestimation 1815, informed by the user-selected functional mode orcommand state 1817, as well as additional feedback from the thrust andorientation mapping 1825 and output control 1835, and determines adesired direction of motion or rotation of the SLCS.

Algorithmic output is sent to motion or power controllers, such as ESCs,which will send the desired thrust response to the EDF via, for examplephase control of pulse modulated power signals. The net thrust output ismapped in real-time through encoders and load cells then sent back todecision and control block 1820 and onward for closed-loop control.

In block 1825, decision and thrust control module 1800 maps desiredorientation with thrust vectors from EDF to generate a thrust andorientation mapping to achieve the determined thrust and orientation ofthe SLCS apparatus.

In block 1830, decision and thrust control module 1800 maps the thrustand orientation mapping to fans and fan thrust vectors and generates afan mapping to control EDFs to achieve the desired thrust andorientation of the SLCS.

In block 1835, decision and thrust control module 1800 applies the fanmapping to output power control signals to the fans or thrusters (orelectronic components controlling the same) to achieve the determinedthrust and orientation of the SLCS apparatus, exerting commanded controloutput and implementing a dynamic response in the form of thrust fromthe fans.

At done block 1899, decision and thrust control module 1800 may concludeor return to a module which may have called it.

Decision and thrust control module 1800 may be unmanned and automatedaside from the high-level operator-selected functional control modes.Net output is a control force to move or stabilize a suspended load.

FIG. 19 illustrates a parallel projection of a suspended load controlsystem (“SLCS”) integrated into litter 1900, in accordance with anembodiment. This example comprises power supply and fan unit 1940 andcontrol and power supply and fan unit 1945. Each of power supply and fanunit 1940 and control and power supply and fan unit 1945 comprise a fanunit; each fan unit comprises two EDFs, with outlets, and correspondingthrust vector potential, separated by one-hundred and eighty degrees.Hardware to host and/or perform operational module 1700 and decision andthrust control module 1800 may be in control and power supply and fanunit 1945. Batteries and power control modules to provide regulatedpower to fan unit may be in both power supply and fan unit 1940 andcontrol and power supply and fan unit 1945.

Frame 1915 may comprise bracing 1912 to house and/or protect powersupply and fan unit 1940 and control and power supply and fan unit 1945.

Load bearing connector lines 1910 may be secured to litter 1915, to loadbearing rotational coupling 1906, and to main load bearing line 1911.Load bearing rotational coupling 1906 may allow litter 1915 to rotateseparately from main load bearing line 1911.

With two fan units, with each fan unit comprising two EDFs, operationalmodule 1700 and decision and thrust control module 1800 and SLCSintegrated into litter 1900 may be capable of horizontal translation, aswell as of imparting a rotational force or torque on SLCS integratedinto litter 1900, so as to rotate SLCS integrated into litter 1900 or tocounter undesired rotation of SLCS integrated into litter 1900.

FIG. 20 illustrates a parallel projection of a suspended load controlsystem (“SLCS”) secured to litter 2000, in accordance with anembodiment. In this example, a litter comprises a screen bed and furthercomprises power supply and fan unit 2040 and control and power supplyand fan unit 2045. Each of power supply and fan unit 2040 and controland power supply and fan unit 2045 comprise a fan unit; each fan unitcomprises two EDFs, with outlets, and corresponding thrust vectorpotential, separated by one-hundred and eighty degrees. Hardware to hostand/or perform operational module 1700 and decision and thrust controlmodule 1800 may be in control and power supply and fan unit 2045.Batteries and power control modules to provide regulated power to fanunit may be in both power supply and fan unit 2040 and control and powersupply and fan unit 2045.

Each of power supply and fan unit 2040 and control and power supply andfan unit 2045 may be secured to litter 2015, using securement mechanismssuch as those discussed herein.

With two fan units, with each fan unit comprising two EDFs, operationalmodule 1700 and decision and thrust control module 1800 and SLCS securedto litter 2000 may be capable of horizontal translation, as well as ofimparting a rotational force or torque on SLCS secured to litter 2000,so as to rotate SLCS secured to litter 2000 or to counter undesiredrotation of SLCS secured to litter 2000.

FIG. 21 illustrates a parallel projection of a suspended load controlsystem (“SLCS”) secured to litter 2100, in accordance with anembodiment. In this example, control and power supply and fan unit 2145is secured to one end of litter 2115. In this example, litter 2115 mayhave been in inventory of a SAR organization, before acquisition ofcontrol and power supply and fan unit 2145 by the organization andsecurement of it to litter 2115. In an alternative embodiment, controland power supply and fan unit 2145 may be integrated into litter 2115.

Control and power supply and fan unit 2145 may comprise one fan unit,comprising two EDFs. The two EDFs may be oriented one-hundred and eightydegrees apart. Hardware to host and/or perform operational module 1700and decision and thrust control module 1800 may be in control and powersupply and fan unit 2145. Batteries and power control modules to provideregulated power to fan unit may be in control and power supply and fanunit 2145.

With one fan unit at one end of litter 2115, with each fan unitcomprising two EDFs, operational module 1700 and decision and thrustcontrol module 1800 and SLCS secured to litter 2100 may be capable ofimparting a rotational force or torque on SLCS secured to litter 2100,so as to rotate SLCS integrated into litter 1900 or to counter undesiredrotation of SLCS integrated into litter 1900.

FIG. 22 illustrates a parallel projection of a suspended load controlsystem (“SLCS”) secured to a litter 2200 and illustrating securement ofload bearing connector cables to rotational coupling 2206, in accordancewith an embodiment. Securement 2305 is illustrated and discussed furtherin relation to FIG. 23B. Securement 2310 is illustrated and discussedfurther in relation to FIG. 23A. Securement 2315 is illustrated anddiscussed further in relation to FIG. 23C. In this example, flexiblelitter 2215 may rest within and/or be secured to litter 2220. Litter2220 may be optional, for example, such as if suspended load controlsystem 2205 is part of or comprises a frame, similar to frame 110.Flexible litter 2215 may require that straps across its top, across itsshort axis, be tightened about a load in order to for flexible litter2215 to assume a configuration as illustrated, with a long axis parallelto long axis of litter 2220.

FIG. 23A illustrates a parallel projection of a detail of an example ofsecurement of load bearing connector cables, in accordance with anembodiment. In this example, separate load bearing connector cablesextend from rotational coupling 2206 and are separately secured to bothflexible litter 2215, litter 2220, and between these securementlocations. If a single of the securement location or load bearingconnector cable fails, the other load bearing connector cable andsecurement location may provide a backup.

FIG. 23B illustrates a parallel projection of a detail of securement ofload bearing connector cables, in accordance with an embodiment. In thisexample, a single load bearing connector cable extends from rotationalcoupling 2206, splits into two load bearing connector cables, each ofwhich are separately secured to both flexible litter 2215, litter 2220.If a single of the securement location fails, the other securementlocation may provide a backup.

FIG. 23C illustrates a parallel projection of a detail of securement ofload bearing connector cables, in accordance with an embodiment. In thisexample, separate load bearing connector cables extend from rotationalcoupling 2206 and are separately secured to both flexible litter 2215,litter 2220. If a single of the securement location or load bearingconnector cable fails, the other load bearing connector cable andsecurement location may provide a backup. In an embodiment, a loadbearing connector cable may only extend between rotational coupling andlitter 2220 and not also to flexible litter 2215.

FIG. 23D illustrates a parallel projection of a detail of securement ofa load bearing connector cable, in accordance with an embodiment. Inthis example, a single load bearing connector cable extends fromrotational coupling 2206 to flexible litter 2215. In this example,litter 2220 and SLCS 2205 may be separately secured to flexible litter2215 and/or to rotational coupling 2206.

FIG. 24 illustrates a parallel projection of a suspended load controlsystem (“SLCS”) secured to a litter 2400 and a detail of components ofcontrol and power supply and fan unit 2445, without a cowl or case tomore clearly show internal components, in accordance with an embodiment.Coupling 2430 may be used to connect power and communications conduits,such as conduits to power supply and fan unit 2600. Quick release pin2420 may be used to quickly and simply release control and power supplyand fan unit 2445 from the litter to which it may be secured. Activationof quick release pin 2420 may both release control and power supply andfan unit 2445 from the litter and may also shut down or stop an EDF orother electronic components which may be operating.

Emergency shut-off 2425 may be used to shut off control and power supplyand fan unit 2445 and/or power supply and fan unit 2600, such as inresponse to twisting, turning, or pushing emergency shut-off 2425. Mainpower 2435 may be used to turn off main power to control and powersupply and fan unit 2445, as well as to power supply and fan unit 2600.

Fan battery pack 2405 may contain one or more batteries to provide powerto EDF in SLCS 2445. Power controller 2410 may comprise a powercontroller, such as an electronic speed controller, to output power andcontrol signals to an EDF, such as in a pulse code modulated signal. Fanunit 2450 may comprise two EDFs, with thrust output nozzles orientedone-hundred and eighty degrees apart, as well as an air intake betweenthem. Power controller 2410 may comprise three couplings: to fan batterypack 2405, to a processor on circuit board 2505 (see FIG. 25), and to anEDF in fan unit 2450. Additional components of control and power supplyand fan unit 2445 are discussed in relation to FIG. 25. Power supply andfan unit 2600 illustrated in FIG. 24 is discussed further in relation toFIG. 26.

FIG. 25 illustrates a parallel projection of details of electroniccomponents of control and power supply and fan unit 2445, in accordancewith an embodiment. Circuit board 2505 may comprise amplifiers, powerconditioners, and monitoring circuits between, for example, circuitboard 2510 and power controller 2410. Circuit board 2510 may compriseprocessor and memory devices which may host or embody, for example,operational module 1700 and/or decision and thrust control module 1800.Radio frequency (“RF”) board 2515 may comprise components used by acommunications module, such as to enable wireless and wirelinecommunication between components, including with power and supply fanunit 2600. Sensors, such as some or all of sensors 1605 may be incontrol and power supply and fan unit 2445.

FIG. 26 illustrates a parallel projection of electronic components ofcontrol and power supply and fan unit 2600, in accordance with anembodiment. Fan unit 2620 may comprise two EDFs and an air intake. Fanbattery pack 2605 may comprise one or more batteries to provide power toEDFs in fan unit 2620. Power controller 2610 may comprise a powercontroller, such as an electronic speed controller, to provide power andcontrol signals to an EDF in fan unit 2620. Fan battery pack 2605 andpower controller 2610 may be located proximate to fan unit 2620 so as toreduce power losses and so as to increase signal fidelity between powercontroller 2610 and EDF in fan unit 2620. Coupling 2630 may be used toprovide communications and/or electrical coupling to other components.For example, coupling 2630 may provide communications with control andpower supply and fan unit 2445 and, for example, processor and memoryand operational module 1700 and/or decision and thrust control module1800 therein. Quick release pin 2620 may be used to quickly and simplyrelease power supply and fan unit 2600 from the litter to which it maybe secured. Activation of quick release pin 2620 may both release powersupply and fan unit 2600 from the litter and may also shut down or stopan EDF or other electronic components which may be operating. Sensors,such as some or all of sensors 1605 may be in power supply and fan unit2600.

FIG. 27 illustrates a perspective view of a modular suspended loadcontrol system (“SLCS”) secured to a load 2700, in accordance with anembodiment. In this example, control unit 2715 may be a housing whichcontains processor, memory, sensors, such as sensors 1605, and modulessuch as operational module 1700 and decision and thrust control module1800. Control unit 2715 and fan unit 2710 may be strapped, tied,clipped, bolted or otherwise secured to load 2705. Load 2705 maycomprise multiple smaller loads within a webbing enclosure or webbingbundle, within a solid enclosure, or the like. Fan unit 2710 maycomprise two EDF, as well as a power supply unit, similar to powersupply and fan unit 2600. One of fan unit 2710 may be physically closerto control unit 2715. Sensors, such as some or all of sensors 1605 maybe in power supply and fan unit 2710. Fan unit 2710 may be in wirelessor wireline communication with control unit 2715. Control unit 2715 maycontrol fan unit 2710 using, for example, modules such as operationalmodule 1700 and decision and thrust control module 1800. Control unit2715 and fan units 2710 are modular in the sense that these componentsmay be contained in self-contained modules or units which may be securedto a load separately, but which may nonetheless work or functiontogether.

FIG. 28 illustrates a top perspective view of a modular suspended loadcontrol system (“SLCS”) secured to load 2807 in a first positionrelative to an obstacle 2805, in accordance with an embodiment. Target2810 may be an intended destination for the load. A remote positionalunit or target node may be at target 2810. Target 2810 may also beidentified by a user identifying such location on a map or according tocoordinates. A carrier, such as a helicopter or crane, may be carryingSLCS secured to load 2807. Obstacle avoidance module 3800 and/ordecision and thrust control module 1800 may be active and, inconjunction with operational module 1700 and decision and thrust controlmodule 1800, may instruct SLCS secured to load 2807 to rotate the loadso as to reduce the proximity of the SLCS' to obstacle 2805 or tonegotiate the load relative to obstacle 2805.

FIG. 29 illustrates a top perspective view of the modular suspended loadcontrol system (“SLCS”) secured to load 2807 of FIG. 28, in a secondposition relative to obstacle 2805, in accordance with an embodiment. Asillustrated in this example, obstacle avoidance module 3800, inconjunction with operational module 1700 and decision and thrust controlmodule 1800, may have rotated load so as to equalize the distance ofends of load or of fan units on SLCS to obstacle 2805 or to negotiatethe load relative to obstacle 2805, such that SLCS secured to load 2807avoids contact with or obstacle 2805. This may allow the operator of thecarrier to transport SLCS secured to load 2807 along a first side ofobstacle 2805 toward target 2810.

FIG. 30 illustrates a top perspective view of the modular suspended loadcontrol system (“SLCS”) secured to load 2807 of FIG. 28, in a thirdposition relative to obstacle 2805, in accordance with an embodiment. Asillustrated in this example, obstacle avoidance module 3800, inconjunction with operational module 1700 and decision and thrust controlmodule 1800, may have rotated SLCS secured to load 2807 so as toequalize the proximity of ends of SLCS secured to load 2807 relative toobstacle 2805 or to otherwise negotiate relative to obstacle 2805, whichresults in SLCS secured to load 2807 rotating ninety degrees as the loadis transported around the corner of obstacle 2805. This may allow theoperator of the carrier to continue transporting SLCS secured to load2807 along a second the side of obstacle 2805 toward target 2810.

FIG. 31 illustrates a perspective view of the modular suspended loadcontrol system (“SLCS”) secured to load 2807 of FIG. 28, in accordancewith an embodiment. Fan unit 3105A and fan unit 3105B may comprise EDFand power supply units, similar to power supply and fan unit 2600. Fanunit 3105A is secured by straps 3110A to the load and fan unit 3105B mayalso be secured by straps 3110B to the load. Straps 3110 may comprisestraps, webbing, rope, cable, chains, steel reinforced rubber and thelike, secured with compression fittings and the like. In alternativeembodiments, eye hooks and similar fasteners may be incorporated intostraps or may be embedded into the load. Load bearing connector cablesmay connect to straps on load, wherein the straps on load may be similarto straps 3110. Control unit 3115 may similarly be secured to the loadwith straps or the like. Control unit 3115 may control fan units 3105and may comprise components similar to load control system logicalcomponents 1601.

FIG. 32 illustrates a perspective view of a securement mechanism 3200 toreleasably secure a modular component of a suspended load control system(“SLCS”) to a load, such as housing 3215, in accordance with anembodiment. The modular component represented by housing 3215 in FIG. 32may be, for example, a control and power supply unit for a fan unit,though embodiments of securement mechanism 3200 may be used with and/orincorporated into other modular components, such as a power supply unit,a control unit, a fan unit, and the like. As illustrated in FIG. 32,load 3201 may be, for example, a litter, though may be another loadwhich may be carried or transported by a carrier via a suspension cable,such as a box, a structural box, a cage, a sling load with a rigidsurface to which securement mechanism 3200 may be secured, or the like.

Securement mechanism 3200 may comprise, for example, rail 3205, flange3225, and pin 3220. Rail 3205, flange 3225, and pin 3220 may also bereferred to herein as “interlocking structures” and, together, as a “setof interlocking structures”. Rail 3205 may be secured or connected toload 3201, for example, via clamps 3210 or the like. Flange 3225 may besecured or connected to housing 3215, such as via bolts or the like.Rail 3205 and flange 3225 may comprise interlocking structures whichallow rail 3205 and flange 3225 to be releasably secured. For example,rail 3205 and flange 3225 may physically overlap, slide together, orotherwise restrict relative degrees of freedom of motion of thestructures. In the example illustrated in FIG. 32, rail 3205 restrictsthe freedom of motion of flange 3225 to one degree. The one degree offreedom of motion of flange 3225 may further be releasably constrainedor precluded by, for example, pin 3220 or a similar structure which maybe releasably interposed between or across the components. For example,rail 3205 and flange 3225 may comprise interlocking flanges, recesses,interlocking male and female components, or the like. As illustrated inFIG. 32 through 36, rail 3205 comprises or forms a notch or grove 3505into which flange 3225 may slide, allowing rail 3205 and flange 3225 toengage such that rail hole 3206 and flange hole 3226 align.

When engaged, rail hole 3206 in rail 3205 may align with pin 3220 and,optionally, with flange hole 3226. Pin 3220 may pass through rail hole3206 and, optionally, through flange hole 3226. When passed at leastthrough rail hole 3206, pin 3220 constrains or precludes the one degreeof freedom of motion allowed between engaged rail 3205 and flange 3225.If pin 3220 is not precluded in its freedom of motion relative tohousing 3201, then pin 3220 may pass through both rail hole 3206 andflange hole 3226, to constrain or prohibit the one degree of freedom ofmotion between flange 3225 and rail 3205.

If, as illustrated in FIG. 32, pin 3220 is precluded in one or moredegrees of freedom of motion relative to housing 3201, such as bybracket 3221, then pin 3220 may only need to pass through rail hole 3206to constrain, preclude, or prohibit the one degree of freedom of motionallowed between flange 3225 and rail 3205.

Pin 3220 may comprise, for example, a handle, a rod, a spring. Pin 3220may pass through bracket 3221 in, on, or of housing 3215. A spring inpin 3220 may bias pin 3220 to pass through or not to pass through flangehole 3226.

When flange 3225 and notch 3505 engage with rail 3205, with structuresphysically overlapping and constraining the motion of one or bothstructures to allow one degree of freedom of motion relative to oneanother, when such arrangement comprises alignment of a two dimensionalpassage between flange 3225 and rail 3205, such as alignment of railhole 3206 and flange hole 3226, and when such two dimensional passage istransverse to the one degree of freedom of motion between flange 3225and rail 3205, then the two dimensional passage may be occupied by arigid body, such as pin 3220, with one degree of freedom of motionparallel to the passage between flange 32225 and rail 3205 andtransverse to the one degree of freedom of motion between flange 3225and rail 3205. When the passage between flange 32225 and rail 3205 isoccupied by a rigid body, flange 3225, housing 3215, rail 3205, and load3201 are releasably secured. When the rigid body, such as pin 3220, iswithdrawn from the passage between flange 3225 and rail 3205, thenflange 3225, housing 3215, rail 3205, and load 3201 are releasablysecurable.

FIG. 33 illustrates a perspective view of components of securementmechanism 3200 of FIG. 32, in accordance with an embodiment. Rail 3205,clamp 3210, and load 3201 are illustrated with other components hiddenfor the sake of clarity.

FIG. 34 illustrates a perspective view of components of securementmechanism 3200 of FIG. 32, in accordance with an embodiment. Housing3215, pin 3220, flange 3225 are illustrated with other components hiddenfor the sake of clarity.

FIG. 35 illustrates a parallel projection of an elevation of componentsof securement mechanism 3200 of FIG. 32, in accordance with anembodiment. Pin 3220, flange 3225, and notch or grove 3505 areillustrated with other components hidden for the sake of clarity.

FIG. 36 illustrates a parallel projection of an elevation of componentsof securement mechanism 3200 of FIG. 32, in accordance with anembodiment. Clamp 3210, rail 3205, flange 3225, and housing 3215 areillustrated with other components hidden for the sake of clarity.

FIG. 37A illustrates an embodiment of remote pendant 3735 comprising,for example, activation controller 3740. FIG. 37B illustrates anotherview of an embodiment of remote pendant 3735. FIG. 37C illustratesanother view of an embodiment of remote pendant 3735 comprising, forexample, on/off switch 3745, state selector 3750, and manual/rotationalcontrol 3751. On/off switch 3745 may be used to turn on remote pendant3735. State selector 3750 may be used to select a command stateoperational module 1700, as may be discussed in relation to FIG. 17.Activation controller 3740 may be used to activate or deactivate an SLCSin or relative to a selected command state. Manual/rotational control3751 may be used to manually activate fans to rotate or translate aload.

FIG. 37A illustrates an embodiment of remote pendant 3700 comprising,for example, activation controller 3740. FIG. 37B illustrates anotherview of an embodiment of remote pendant 3700. FIG. 37C illustratesanother view of an embodiment of remote pendant 3700 comprising, forexample, on/off switch 3745, state selector 3750, and manual/rotationalcontrol 3751. On/off switch 3745 may be used to turn remote pendant 3700on or off. State selector 3750 may be used to select a command state ofoperational module 1700, as may be discussed in relation to FIG. 17.Activation controller 3740 may be used to activate or deactivateoperational module 1700 in or relative to a command state selected orindicated by state selector 3750. Manual/rotational control 3751 may beused to manually activate fans to rotate or translate a load when stateselector 3750 has been used to select, for example, direct control mode1727.

FIG. 38 illustrates an example of obstacle avoidance module 3800 of asuspended load control system (“SLCS”), in accordance with oneembodiment. Instructions of, or which embody, obstacle avoidance module3800 may be stored in, for example, memory 1625, and may be executed orperformed by, for example, processor 1620, as well as by electricalcircuits, firmware, and other computer and logical hardware of SLCS withwhich avoidance module 3800 may interact. In embodiments, computerprocessors and memory to perform some or all of obstacle avoidancemodule 3800 may be remote from SLCS, such as in an auxiliary computerin, for example, a carrier.

At decision block 3805, obstacle avoidance module 3800 may determinewhether it is to follow an “equal distance” or “geometric fit” process.An equal distance process may, for example, control fans to maintain anapproximately equal distance between obstacle(s) in the environment andfans, fan units, or load. A geometric fit process may, for example,control fans to cause a load to negotiate through or around an obstaclebased on a determined or obtained geometry of a load. Equal distanceprocess may have lower computational and sensor demands than geometricfit process. Which process to follow may be provided by user input, byselection of another process, and/or by availability of processingcapacity and sensor input.

If geometric fit process or equivalent at decision block 3805, at block3810, obstacle avoidance module 3800 may perform machine or computervision processes or may receive input to determine or obtain a geometryof a load and an SLCS and to identify a load and SLCS as distinct fromother (potential) objects in an environment. For example, in anonexclusive embodiment, obstacle avoidance module 3800 may obtaininformation from distance or similar sensors in or of SLCS modulesattached to load, which distance or similar sensors may obtain distancebetween such sensors (such as between distance sensors on different fanunits of an SLCS) as well as between such sensors and the environment.Such information may be used by computer vision processes, e.g. objectrecognition, to determine the geometry of the load and SLCS. Forexample, in a nonexclusive embodiment, obstacle avoidance module 3800may receive one or more images or pixels of load, SLCS, and theenvironment, such as from a camera, LIDAR, or another sensor on acarrier or on SLCS. Such images or pixels may comprise depthinformation, such as from a depth camera, a stereo camera, LIDAR, or thelike. Such images or pixels may comprise edge, greyscale, and colorinformation. Identification of load and SLCS, as distinct from otherobjects or artifacts in a field of view of such sensors, may befacilitated by electromagnetic or acoustic emitters, transmitters, orpatterns on or of load or of suspension cable. For example, suchemitters, transmitters, or patterns may be present on or may be of loador SLCS, suspension cable, and/or may be on or of modules of an SLCSsecured to load; for example, a load and/or SLCS, may compriseradiofrequency transmitters, LEDs and other electromagnetic transmittersor emitters (including fans and other electrical components which mayemit radiofrequency or electromagnetic radiation); for example, a loadand/or SLCS may have a patterned surface or materials; for example, aload and/or SLCS may have a structures which sensors and computer visionprocesses are trained or programmed to identify (such as a suspensioncable, a pattern on or of a load and SLCS), and the like. Correspondingsensors may be present on or in carrier or another location which as aview of load and SLCS, wherein the corresponding sensors may receivetransmissions from such emitters or otherwise receive input, such asimage input, which is used detect such patterns and to determine thegeometry of the load and SLCS. In a nonexclusive embodiment,determination of geometry of load may be based on images or otherinformation from sensors in SLCS relative to a known image, such as ofthe carrier. For example, if the carrier has a known or characterizedgeometry and size (or has transmitters with a known geometry), thencomputer vision processes can be executed separately for each of aplurality of sensors relative to the carrier to determine the geometricrelationship of each of the plurality of sensors relative to thecarrier; the geometric relationship of each of the plurality of sensorsrelative to the carrier can then be compared to determine the geometricrelationship of each of the plurality of sensors relative to oneanother. For example, a suspension cable may hang down to load and SLCS;the suspension cable, load, and SLCS may be in one or more images andmay be used to facilitate training of machine or computer vision torecognize one or more of suspension cable, load, SLCS, and/or carrierand to determine the geometry and size thereof. In a nonexclusiveembodiment, the geometry and size may be provided by a user, such as byinput into a remote interface or otherwise into obstacle avoidancemodule 3800. Computer vision and object recognition processes mayinclude, for example, Intel RealSense® computer vision technology.

At block 3815, obstacle avoidance module 3800 may process such images ormay obtain from another process, such as a computer vision process, suchas Intel RealSense® computer vision technology, or may obtain fromdecision and control module 1800, such as from state estimation 1815, todetermine or obtain orientation, position, and motion of the load andSLCS. The orientation, position, and motion of load and SLCS may includea current orientation, position, and motion as well as a predicted orprojected future orientation, position, and motion.

At block 3820, obstacle avoidance module 3800 may identify obstacles ina path of load and SLCS, e.g., along a path of a projected motion ofload and SLCS (including a path which accounts for an elevation of loadand elevation of such obstacle(s)). Identification of obstacles in pathof load and SLCS may be similar to identification of load and SLCS, e.g.based on sensor input and machine or computer vision analysis of suchinput. Identification of obstacles in path of load and SLCS may useinput from sensors located on SLCS as well or instead of sensors locatedon the carrier. All objects or pixels not identified as load and SLCSmay be identified as obstacle(s).

At decision block 3825, obstacle avoidance module 3800 may determinewhether a passage through or around such identified obstacles may existfor load and SLCS, including based on different orientations of geometryof load and SLCS and based on available motions of load and SLCS, as maybe driven by carrier and/or SLCS.

If affirmative or equivalent at decision block 3825, at block 3830,obstacle avoidance module 3800 may control fans and/or carrier to passload and SLCS around or through obstacles. Control of carrier maycomprise integration with control systems or modules of carrier and/ormay comprise providing instructions to an operator of carrier. Controlof fans may be through input to decision and thrust control module 1800,such as to block 1820.

If negative or equivalent at decision block 3825, at block 3850,obstacle avoidance module 3800 may provide a warning that no path, orthat no safe path with a buffer margin, is available. The warning may beprovided to, for example, an operator of carrier or to a processinvolved in the operation of carrier. Such warning may be provided vialights, auditory output, text output, or the like.

If equal distance or equivalent at decision block 3805, at block 3835,obstacle avoidance module 3800 may determine or obtain position,orientation, and motion of load and SLCS, such as of fan units or otherdistally located modules of SLCS. Determination or obtaining position,orientation, and motion of load and SLCS may be similar to block 3815,including based on predicate sensor input, though may be focused ondistally located modules of SLCS, such as fan units, rather than on theentire geometry of load and SLCS. For in a nonexclusive embodiment,determination of position, orientation, and motion of load and SLCS maybe obtained from decision and control module 1800, such as from stateestimation 1815.

At block 3840, obstacle avoidance module 3800 may identify obstacles ina path of load and SLCS. Identification of obstacles in path may besimilar to block 3820 and may involve machine or computer visionprocesses. In a nonexclusive embodiment, identification of obstacles maybe based on though may be focused or based on distance information,images, LIDAR, and the like provided by sensors on or of SLCS, such assensors on or of fan units. The sensors may be located at opposite endsof the load, such as in distally located fan units, at the ends of theload, or the like.

At block 3841, obstacle avoidance module 3800 may determine thedistances of sensors of SLCS to the obstacle. Such determination may bebased on distance information obtained by sensors in the SLCS, such assensors in fan units or the like which may be located at opposite endsof a load. In embodiments, the sensor information may be distanceinformation, such as distance information from distance cameras, LIDAR,RADAR, and the like. In an embodiment, obstacle avoidance module 3800may only determine distance information for sensors in the SLCS, and maynot also obtain position, orientation, or motion nor may also identifyobstacles in the path of load and SLCS. In this embodiment, obstacleavoidance module 3800 may be activated by a user when a load and SLCSare proximate to an obstacle. In a nonexclusive embodiment, the sensorinformation may only be considered by obstacle avoidance module 3800when the sensor information indicates a sensor that is within athreshold distance of the sensor.

At block 3842, obstacle avoidance module 3800 may determine whether thedistance between the sensors and the obstacle of block 3841 are equal.For example, please refer to the discussion of FIGS. 28 to 31.

At block 3845, obstacle avoidance module 3800 may control fans in anSLCS to equalize distance load and SLCS to the obstacle.

At done block 3899, obstacle avoidance module 3800 may return to aprevious block, to continue to iterate until a target is reached, or mayconclude or return to another process which may have called it.

Status indicator lights may be mounted on various surfaces of the SLCSto aid in visibility and operation of the SLCS from above and below. Forexample, the SLCS may have external lighting such as LEDs near thethrusters that identify the edges and orientation of the SLCS. Thisallows for improved identification in hard viewing situations such asinclement weather. During operation, both on an interactive display andthe system body, LED display indicators may show that the system isactive and may convey useful information.

Although specific embodiments have been illustrated and describedherein, it will be appreciated by those of ordinary skill in the artthat alternate and/or equivalent implementations may be substituted forthe specific embodiments shown and described without departing from thescope of the present disclosure. This application is intended to coverany adaptations or variations of the embodiments discussed herein.

Following are non-limiting examples.

Example 1. A load control system to influence at least one of aposition, orientation, or motion of a load suspended by a cable from acarrier, comprising: a litter frame, a plurality of thrusters, a sensorsuite, and a computer processor and memory, wherein the memory comprisesa thrust control module which, when executed by the computer processor,determines a position, orientation, or motion based on a sensor datafrom the sensor suite and controls the plurality of thrusters accordingto the position, orientation, or motion to influence at least one of theposition, orientation, or motion of the load and wherein the pluralityof thrusters, sensor suite, and computer processor and memory areintegrated into the litter frame.

Example 2. The load control system according to Example 1, furthercomprising a fan unit, wherein the fan unit comprises a first thrusterand a second thruster in the plurality of thrusters.

Example 3. The load control system according to Example 2, wherein thefan unit comprises an air intake located between the first thruster andthe second thruster.

Example 4. The load control system according to Example 2, wherein thefan unit is a first fan unit and further comprising a second fan unit,wherein the second fan unit comprises a third thruster and a fourththruster in the plurality of thrusters, and wherein the first fan unitand the second fan unit are at opposite ends of the litter frame.

Example 5. The load control system according to Example 2, wherein thefan unit comprises a fan unit housing, wherein the fan unit housingprotects the fan unit and acts as a bumper for the load.

Example 6. The load control system according to Example 1, wherein asensor in the sensor suite is located in or proximate to one of a fanunit, a housing for the computer processor, a housing for a powercontroller, a housing for a power supply, the carrier, or a remoteinterface.

Example 7. The load control system according to Example 6, wherein thesensor is located to provide a line-of-sight view of at least one of aground surface or the carrier.

Example 8. The load control system according to Example 6, wherein thesensor comprises at least one of a vector navigation unit, an inertialmeasurement unit, an orientation measurement system, an absoluteposition measurement system, a proximity sensor, an optical sensor, astain gauge sensor, and a thrust speed sensor.

Example 9. The load control system according to Example 1, furthercomprising a housing containing the processor and memory and a powersupply and wherein the processor executes the thrust control module inthe memory to control the plurality of thrusters to influence at leastone of the position, orientation, or motion of the load to impart atorque on the load.

Example 10. The load control system according to Example 9, wherein thehousing is a first housing, the power supply is a first power supply andfurther comprising a second housing for a second power supply andwherein the processor executes the thrust control module in the memoryto control the plurality of thrusters to influence at least one of theposition, orientation, or motion of the load to impart one of ahorizontal thrust vector or the torque on the load.

Example 11. The load control system according to Example 10, furthercomprising a first fan unit and a second fan unit, wherein the pluralityof thrusters are contained in the first fan unit and the second fanunit, and wherein the processor executes the thrust control module inthe memory to control the plurality of thrusters in the first fan unitand the second fan unit to influence at least one of the position,orientation, or motion of the load to impart one of a horizontal thrustvector or the torque on the load control system.

Example 12. The load control system according to Example 11, wherein thefirst fan unit is contained in the first housing and the second fan unitis contained in the second housing.

Example 13. The load control system according to Example 11, wherein thefirst fan unit and the second fan unit are at opposite ends of thelitter frame.

Example 14. The load control system according to Example 1, furthercomprising a housing for the processor and memory, wherein the housingfor the processor and memory is centrally located within the litterframe.

Example 15. The load control system according to Example 1, wherein thelitter frame comprises a brace, wherein the brace protects at least oneof the sensor suite, the computer processor and memory, or the pluralityof thrusters.

Example 16. The load control system according to Example 1, wherein thethrust control module determines the position, orientation, or motion bycombining the sensor data from the sensor suite through a non-linearfilter to determine a current state.

Example 17. The load control system according to Example 16, wherein thethrust control module further projects near-term future motion based onthe current state with feedback from at least one of a functional modeor command state of an operational module, a thrust and orientationmapping, or a fan mapping.

Example 18. The load control system according to Example 16, wherein thenon-linear filter is a Kalman filter.

Example 19. The load control system according to Example 17, wherein thethrust control module further outputs an output control to the pluralityof thrusters based on the fan mapping to control the plurality ofthrusters to control the motion of the load.

Example 20. The load control system according to Example 17, wherein thefunctional mode or command state comprises at least one of idle,maintain relative location or position relative to a carrier, move to alocation, hold position, obstacle avoidance, or direct control.

Example 21. The load control system according to Example 1, wherein theplurality of thrusters are configured to generate a plurality of thrustvectors, wherein the plurality of thrust vectors are perpendicular to along axis of the litter frame.

Example 22. The load control system according to Example 1, wherein themotion comprises at least one of yaw, pendular motion, or horizontaltranslation.

Example 23. The load control system according to Example 1, wherein thelitter frame comprises a plurality of mounts for the plurality ofthrusters.

Example 24. A modular load control system to influence at least one of aposition, orientation, or motion of a load suspended by a cable from acarrier, comprising: a plurality of thrusters, a sensor suite, and acomputer processor and memory, wherein the memory comprises a thrustcontrol module which, when executed by the computer processor,determines a position, orientation, or motion of the load based on asensor data from the sensor suite and controls the plurality ofthrusters according to the position, orientation, or motion to influenceat least one of the position, orientation, or motion of the load, andfurther comprising a modular housing, wherein the modular housingcontains at least one of a subset of the plurality of thrusters, thesensor suite, or the computer processor and memory, and a housing-loadsecurement mechanism to releasably secure the modular housing to theload.

Example 25. The modular load control system according to Example 24,wherein the housing-load securement mechanism allows the modular housingto be secured to a plurality of loads.

Example 26. The modular load control system according to Example 25,wherein the plurality of loads comprise at least one of a litter, awebbing bundle, or a container.

Example 27. The modular load control system according to Example 26,wherein the container comprises a rigid rectangular structure.

Example 28. The modular load control system according to Example 27,wherein the securement mechanism secures the modular housing to at leastone of a top, a side, or a bottom of the rigid rectangular structure.

Example 29. The modular load control system according to Example 24,wherein the housing-load securement mechanism comprises at least one ofa strap, an expansion brace, a bolting track, or a set of interlockingstructures.

Example 30. The modular load control system according to Example 29,wherein the set of interlocking structures comprises a firstinterlocking structure secured to the load and a second interlockingstructure secured to the modular housing.

Example 31. The modular load control system according to Example 30,wherein the first interlocking structure and the second interlockingstructure physically engage with one another and, when so engaged,provide one degree of freedom of motion between the first interlockingstructure and the second interlocking structure, wherein the one degreeof freedom of motion allows the modular housing to be releasably securedto the load.

Example 32. The modular load control system according to Example 30,wherein the set of interlocking structures further comprises a thirdinterlocking structure, wherein the third interlocking structure engageswith at least one of the first interlocking structure or the secondinterlocking structure to preclude or prohibit the one degree of freedomof motion between the first interlocking structure and the secondinterlocking structure.

Example 33. The modular load control system according to Example 32,wherein the third interlocking structure precludes or prohibits the onedegree of freedom of motion between the first interlocking structure andthe second interlocking structure when the third interlocking structureis releasably interposed through the first interlocking structure andthrough the second interlocking structure.

Example 34. The modular load control system according to Example 29,wherein the set of interlocking structure comprises a rail secured tothe load, a flange secured to the modular housing, and a pin.

Example 35. The modular load control system according to Example 34,wherein the rail comprises a rail hole, the flange comprises a flangehole, wherein the rail and flange slide together to align the rail holeand the flange hole, and wherein the pin passes through the rail holeand the flange hole and thereby releasably secures the flange and themodule housing to the load.

Example 36. The modular load control system according to Example 24,wherein the modular housing contains all of the plurality of thrusters,the sensor suite, and the computer processor and memory.

Example 37. The modular load control system according to Example 36,further comprising a first fan unit and a second fan unit, wherein thefirst fan unit and second fan unit contain the plurality of thrusters.

Example 38. The modular load control system according to Example 37,further comprising a fan unit repositioning mechanism, wherein the fanunit repositioning mechanism allows the first fan unit and second fanunit to be repositioned within the modular load control system.

Example 39. The modular load control system according to Example 24,further comprising a frame, wherein the frame contains the plurality ofthrusters, the sensor suite, the computer processor and memory, and themodular housing, and further comprising a fan unit, wherein the fan unitcontains at least a subset of the plurality of thrusters, and furthercomprising a fan unit repositioning mechanism, wherein the fan unitrepositioning mechanism allows the fan unit to be repositioned withinthe frame.

Example 40. The modular load control system according to Example 24,wherein the thrust control module determines the position, orientation,or motion of the load by combining the sensor data from the sensor suitethrough a non-linear filter to determine a current state.

Example 41. The modular load control system according to Example 40,wherein the thrust control module further projects near-term futuremotion based on the current state with feedback from at least one of afunctional mode or command state of an operational module, a thrust andorientation mapping, or a fan mapping.

Example 42. The modular load control system according to Example 40,wherein the non-linear filter is a Kalman filter.

Example 43. The modular load control system according to Example 41,wherein the thrust control module further outputs an output control tothe plurality of thrusters based on the fan mapping to control theplurality of thrusters to control the motion of the load.

Example 44. The modular load control system according to Example 24,wherein the modular housing contains the processor and memory and apower supply and wherein the processor executes the thrust controlmodule in the memory to control the plurality of thrusters to influenceat least one of the position, orientation, or motion of the load toimpart a torque on the load.

Example 45. The modular load control system according to Example 44,wherein the modular housing is a first modular housing, the power supplyis a first power supply and further comprising a second modular housingfor a second power supply and wherein the processor executes the thrustcontrol module in the memory to control the plurality of thrusters toinfluence at least one of the position, orientation, or motion of theload to impart one of a horizontal thrust vector or the torque on theload.

Example 46. The modular load control system according to Example 44,further comprising a first fan unit in the first modular housing and asecond fan unit in the second modular housing, wherein the plurality ofthrusters are contained in the first fan unit and the second fan unit,and wherein the processor executes the thrust control module in thememory to control the plurality of thrusters in the first fan unit andthe second fan unit to influence at least one of the position,orientation, or motion of the load to impart one of a horizontal thrustvector or the torque on the load control system.

Example 47. A computer implemented method to influence at least one of aposition, orientation, or motion of a load suspended by a cable from acarrier, comprising: determining a position, orientation, or motion ofthe load based on a sensor data from a sensor suite and controlling aplurality of thrusters according to the position, orientation, or motionto influence at least one of the position, orientation, or motion of theload, wherein the plurality of thrusters, sensor suite, a computerprocessor and memory to implement the method are integrated into alitter frame.

Example 48. The method according to Example 44, wherein the plurality ofthrusters are in a fan unit.

Example 49. The method according to Example 45, further comprisingdrawing thrust fluid into the fan unit through an air intake locatedbetween the first thruster and the second thruster.

Example 50. The method according to Example 45, wherein the fan unit isa first fan unit and further comprising a second fan unit, wherein thesecond fan unit comprises a third thruster and a fourth thruster in theplurality of thrusters, and wherein the first fan unit and the secondfan unit are at opposite ends of the litter frame.

Example 51. The method according to Example 45, wherein the fan unitcomprises a fan unit housing, and further comprising protecting the fanunit and providing a bumper for the litter frame with the fan unithousing.

Example 52. The method according to Example 44, wherein a sensor in thesensor suite is located in or proximate to one of a fan unit, a housingfor the computer processor, a housing for a power controller, a housingfor a power supply, the carrier, or a remote interface.

Example 53. The method according to Example 49, wherein the sensor islocated to provide a line-of-sight view of at least one of a groundsurface or the carrier.

Example 54. The method according to Example 49, wherein the sensorcomprises at least one of a vector navigation unit, an inertialmeasurement unit, an orientation measurement system, an absoluteposition measurement system, a proximity sensor, an optical sensor, astain gauge sensor, and a thrust speed sensor.

Example 55. The method according to Example 44, further comprisingcontrolling the plurality of thrusters to impart a torque on the litterframe, wherein the processor and memory and a power supply are containedin a housing.

Example 56. The method according to Example 52, wherein the housing is afirst housing, the power supply is a first power supply and furthercomprising a second housing for a second power supply and furthercomprising controlling the plurality of thrusters to impart one of ahorizontal thrust vector or the torque on the load control system.

Example 57. The method according to Example 53, further comprising afirst fan unit and a second fan unit, wherein the plurality of thrustersare contained in the first fan unit and the second fan unit, andcontrolling the plurality of thrusters in the first fan unit and thesecond fan unit to impart one of a horizontal thrust vector or thetorque on the load control system.

Example 58. The method according to Example 54, wherein the first fanunit is contained in the first housing and the second fan unit iscontained in the second housing.

Example 59. The method according to Example 54, wherein the first fanunit and the second fan unit are at opposite ends of the litter frame.

Example 60. The method according to Example 44, further comprising ahousing, wherein the housing contains the processor and memory andwherein the housing is centrally located within the litter frame.

Example 61. The method according to Example 44, wherein the litter framecomprises a brace, wherein the brace protects at least one of the sensorsuite, the computer processor and memory, or the plurality of thrusters.

Example 62. The method according to Example 44, further comprisingdetermining the position, orientation, or motion by combining the sensordata from the sensor suite through a non-linear filter to determine acurrent state, wherein the current state comprises the position,orientation, or motion.

Example 63. The method according to Example 59, further comprisingprojecting near-term future motion based on the current state.

Example 64. The method according to Example 60, wherein projectingnear-term future motion based on the current state comprises updatingthe current state with feedback from at least one of a functional modeor command state of an operational module, a thrust and orientationmapping, or a fan mapping.

Example 65. The method according to Example 59, wherein the non-linearfilter is a Kalman filter.

Example 66. The method according to Example 60, further comprisingcontrolling the plurality of thrusters to control the motion of the loadby outputting an output control to the plurality of thrusters based onthe fan mapping.

Example 67. The method according to Example 61, wherein the functionalmode or command state comprises at least one of idling, maintainingrelative location or position relative to a carrier, moving to alocation, hold position, avoiding an obstacle, and directing controlbased on user input.

Example 68. The method according to Example 67, wherein avoiding anobstacle comprises at least one of determining distances of at least twosensors relative to an object and controlling the plurality of thrustersaccording to the position, orientation, or motion to equalize thedistances of the at least two sensors relative to the object ordetermining a geometry and a path of the load, identifying obstacles inthe path of the load, determining a passage relative to the obstaclesbased on the geometry and path of the load, and controlling theplurality of thrusters according to the position, orientation, or motionto influence the motion of the load and avoid the obstacles.

Example 69.

Example 70. The method according to Example 44, wherein controlling aplurality of thrusters according to the position, orientation, or motionto control the motion of the load comprises generating a plurality ofthrust vectors, wherein the plurality of thrust vectors areperpendicular to a long axis of the litter frame.

Example 71. The method according to Example 44, wherein the motioncomprises at least one of yaw, pendular motion, or horizontaltranslation.

Example 72. The method according to Example 44, wherein the litter framecomprises a plurality of mounts for the plurality of thrusters.

Example 73. A computer implemented method to influence at least one of aposition, orientation, or motion of a load suspended by a cable from acarrier, comprising: determining a position, orientation, or motion ofthe load based on a sensor data from a sensor suite and controlling aplurality of thrusters according to the position, orientation, or motionto control the motion of the load, wherein at least one of the pluralityof thrusters, the sensor suite, or a computer processor and memory toperform the method are contained in a modular housing, wherein themodular housing comprises a housing-load securement mechanism toreleasably secure the modular housing to the load.

Example 74. The method according to Example 68, further comprisingsecuring the modular housing to at least one of a plurality of loadswith the housing-load securement mechanism.

Example 75. The method according to Example 68, wherein the plurality ofloads comprise at least one of a litter, a webbing bundle, or acontainer.

Example 76. The method according to Example 68, wherein the containercomprises a rigid rectangular structure.

Example 77. The method according to Example 71, further comprisingsecuring the modular housing to at least one of a top, a side, or abottom of the rigid rectangular structure with the securement mechanism.

Example 78. The method according to Example 68, wherein the housing-loadsecurement mechanism comprises at least one of a strap, an expansionbrace, or a bolting track, or a set of interlocking structures.

Example 79. The method according to Example 73, wherein the set ofinterlocking structures comprises a first interlocking structure securedto the load and a second interlocking structure secured to the modularhousing.

Example 80. The method according to Example 73, further comprisingengaging the first interlocking structure and the second interlockingstructure with one another to provide one degree of freedom of motionbetween the first interlocking structure and the second interlockingstructure, wherein the one degree of freedom of motion allows themodular housing to be releasably secured to the load.

Example 81. The method according to Example 75, wherein the set ofinterlocking structures further comprises a third interlockingstructure, and further comprising engaging the third interlockingstructure with at least one of the first interlocking structure or thesecond interlocking structure to preclude or prohibit the one degree offreedom of motion between the first interlocking structure and thesecond interlocking structure.

Example 82. The method according to Example 76, further comprisingreleasably interposing the third interlocking structure through thefirst interlocking structure and the second interlocking structure topreclude or prohibit the one degree of freedom of motion between thefirst interlocking structure and the second interlocking structure.

Example 83. The method according to Example 73, wherein the set ofinterlocking structure comprises a rail secured to the load, a flangesecured to the modular housing, and a pin.

Example 84. The method according to Example 78, wherein the railcomprises a rail hole, the flange comprises a flange hole, wherein therail and flange slide together to align the rail hole and the flangehole, and wherein the pin passes through the rail hole and the flangehole and thereby releasably secures the flange and the module housing tothe load.

Example 85. The method according to Example 68, wherein the modularhousing contains all of the plurality of thrusters, the sensor suite,and the computer processor and memory.

Example 86. The method according to Example 74, further comprising afirst fan unit and a second fan unit, wherein the first fan unit andsecond fan unit contain the plurality of thrusters.

Example 87. The method according to Example 81, further comprising a fanunit repositioning mechanism, and further comprising repositioning thefirst fan unit and second fan unit within the modular load controlsystem with the fan unit repositioning mechanism.

Example 88. The method according to Example 68, further comprising aframe, wherein the frame contains the plurality of thrusters, the sensorsuite, the computer processor and memory, and the modular housing, andfurther comprising a fan unit, wherein the fan unit contains at least asubset of the plurality of thrusters, and a fan unit repositioningmechanism, and further comprising reposition the fan unit with the fanunit repositioning mechanism within the frame.

Example 89. The method according to Example 68, further comprisingdetermining the position, orientation, or motion by combining the sensordata from the sensor suite through a non-linear filter to determine acurrent state.

Example 90. The method according to Example 83, further comprisingprojecting near-term future motion based on the current state withfeedback from at least one of a functional mode or command state of anoperational module, a thrust and orientation mapping, or a fan mapping.

Example 91. The method according to Example 90, wherein the functionalmode or command state of the operational module comprises at least oneof idle, maintain relative location or position relative to a carrier,move to a location, hold position, obstacle avoidance, or directcontrol.

Example 92. The method according to Example 91, wherein obstacleavoidance comprises at least one of determining distances of at leasttwo sensors relative to an object and controlling the plurality ofthrusters according to the position, orientation, or motion to equalizethe distances of the at least two sensors relative to the object ordetermining a geometry and a path of the load, identifying obstacles inthe path of the load, determining a passage relative to the obstaclesbased on the geometry and path of the load, and controlling theplurality of thrusters according to the position, orientation, or motionto influence the motion of the load and avoid the obstacles.

Example 93. The method according to Example 83, wherein the non-linearfilter is a Kalman filter.

Example 94. The method according to Example 85, further comprisingcontrolling the plurality of thrusters to control the motion of the loadby outputting an output control to the plurality of thrusters based onthe fan mapping.

Example 95. An apparatus for control of a motion of a load suspended bya cable from a carrier, comprising: means comprising a computerprocessor and memory to determine a position, orientation, or motionbased on a sensor data from a sensor suite and means to control aplurality of thrusters according to the position, orientation, or motionto influence at least one of the position, orientation, or motion of theload, wherein the plurality of thrusters, sensor suite, the computerprocessor and memory are integrated into a litter frame.

Example 96. The apparatus according to Example 88, further comprisingmeans to propel thrust fluid with the plurality of thrusters to generatethrust vectors to control the motion of the load.

Example 97. The apparatus according to Example 89, further comprisingmeans to draw thrust fluid into the plurality of thrusters through anair intake between a first thruster and a second thruster of theplurality of thrusters, wherein the first thruster and the secondthruster are in a fan unit and the air intake is between the firstthruster and the second thruster in the fan unit.

Example 98. The apparatus according to Example 90, wherein the fan unitis a first fan unit and further comprising a second fan unit, whereinthe second fan unit comprises a third thruster and a fourth thruster inthe plurality of thrusters, and wherein the first fan unit and thesecond fan unit are at opposite ends of the litter frame.

Example 99. The apparatus according to Example 90, further comprisingmeans to protect the fan unit and means to provide a bumper for thelitter frame with a fan unit housing.

Example 100. The apparatus according to Example 88, wherein a sensor inthe sensor suite is located in or proximate to one of a fan unit, ahousing for the computer processor, a housing for a power controller, ahousing for a power supply, the carrier, or a remote interface.

Example 101. The apparatus according to Example 88, wherein the sensorcomprises at least one of a vector navigation unit, an inertialmeasurement unit, an orientation measurement system, an absoluteposition measurement system, a proximity sensor, an optical sensor, astain gauge sensor, and a thrust speed sensor.

Example 102. The apparatus according to Example 88, further comprisingmeans to control the plurality of thrusters to influence at least one ofthe position, orientation, or motion of the load to impart a torque onthe litter frame, wherein the processor and memory and a power supplyare contained in a housing.

Example 103. The apparatus according to Example 88, wherein the housingis a first housing, the power supply is a first power supply and furthercomprising a second housing for a second power supply and furthercomprising means to control the plurality of thrusters to influence atleast one of the position, orientation, or motion of the load to impartone of a horizontal thrust vector or the torque on the load controlsystem.

Example 104. The apparatus according to Example 96, further comprising afirst fan unit and a second fan unit, wherein the plurality of thrustersare contained in the first fan unit and the second fan unit, and furthercomprising means to control the plurality of thrusters in the first fanunit and the second fan unit to influence at least one of the position,orientation, or motion of the load to impart one of a horizontal thrustvector or the torque on the load control system.

Example 105. The apparatus according to Example 97, wherein the firstfan unit is contained in the first housing and the second fan unit iscontained in the second housing.

Example 106. The apparatus according to Example 97, wherein the firstfan unit and the second fan unit are at opposite ends of the litterframe.

Example 107. The apparatus according to Example 88, further comprisingmeans for a brace to protect at least one of the sensor suite, thecomputer processor and memory, or the plurality of thrusters.

Example 108. The apparatus according to Example 88, further comprisingmeans to determine the position, orientation, or motion using means tocombine the sensor data from the sensor suite through a non-linearfilter to determine a current state, wherein the current state comprisesthe position, orientation, or motion.

Example 109. The apparatus according to Example 101, further comprisingmeans to project near-term future motion based on the current state.

Example 110. The apparatus according to Example 102, wherein means toproject near-term future motion based on the current state comprisesmeans to update the current state with feedback from at least one of afunctional mode or command state of an operational module, a thrust andorientation mapping, or a fan mapping.

Example 111. The apparatus according to Example 101, wherein thenon-linear filter is a Kalman filter.

Example 112. The apparatus according to Example 103, further comprisingmeans to control the plurality of thrusters to control the motion of theload using means to output an output control to the plurality ofthrusters based on the fan mapping.

Example 113. The apparatus according to Example 103, wherein thefunctional mode or command state comprises at least one of means toidle, means to maintain relative location or position relative to acarrier, means to move to designated a location, means to hold aposition, means to avoid an obstacle, and means to direct control basedon user input.

Example 114. The apparatus according to Example 88, wherein means tocontrol a plurality of thrusters according to the position, orientation,or motion and means to control the motion of the load comprises means togenerate a plurality of thrust vectors, wherein the plurality of thrustvectors are perpendicular to a long axis of the litter frame.

Example 115. The apparatus according to Example 88, wherein the motioncomprises at least one of yaw, pendular motion, or horizontaltranslation.

Example 116. The apparatus according to Example 88, wherein the litterframe comprises a plurality of mounts for the plurality of thrusters.

Example 117. An apparatus for control of a motion of a load suspended bya cable from a carrier, comprising: means comprising a computerprocessor and memory to determine a position, orientation, or motionbased on a sensor data from a sensor suite and means to control aplurality of thrusters according to the position, orientation, or motionto control the motion of the load, wherein at least one of a subset ofthe plurality of thrusters, the sensor suite, or the computer processorand memory are contained in a modular housing, and means for ahousing-load securement mechanism to releasably secure the modularhousing to the load.

Example 118. The apparatus according to Example 110, wherein the meansfor the housing-load securement mechanism further comprise means toreleasably secure the modular housing to at least one of a plurality ofloads.

Example 119. The apparatus according to Example 111, wherein theplurality of loads comprise at least one of a litter, a webbing bundle,or a container.

Example 120. The apparatus according to Example 112, wherein thecontainer comprises a rigid rectangular structure.

Example 121. The apparatus according to Example 113, further comprisingmeans to secure the modular housing to at least one of a top, a side, ora bottom of the rigid rectangular structure with the securementmechanism.

Example 122. The apparatus according to Example 110, wherein the meansfor the housing-load securement mechanism comprises at least one of astrap, an expansion brace, a bolting track, or a set of interlockingstructures.

Example 123. The apparatus according to Example 115, wherein the set ofinterlocking structures comprises means for a first interlockingstructure secured to the load and a second interlocking structuresecured to the modular housing.

Example 124. The apparatus according to Example 116, further comprisingmeans for the first interlocking structure and the second interlockingstructure to physically engage with one another and, when so engaged,means for the first interlocking structure and the second interlockingstructure to provide one degree of freedom of motion between the firstinterlocking structure and the second interlocking structure, whereinthe one degree of freedom of motion allows the modular housing to bereleasably secured to the load.

Example 125. The apparatus according to Example 116, wherein the set ofinterlocking structures further comprises a third interlockingstructure, wherein the third interlocking structure comprises means toengage with at least one of the first interlocking structure or thesecond interlocking structure to preclude or prohibit the one degree offreedom of motion between the first interlocking structure and thesecond interlocking structure.

Example 126. The apparatus according to Example 118, wherein the thirdinterlocking structure comprises means to preclude or prohibit the onedegree of freedom of motion between the first interlocking structure andthe second interlocking structure when the third interlocking structureis releasably interposed through the first interlocking structure andthrough the second interlocking structure.

Example 127. The apparatus according to Example 115, wherein the set ofinterlocking structure comprises a rail secured to the load, a flangesecured to the modular housing, and a pin.

Example 128. The apparatus according to Example 120, wherein the railcomprises a rail hole, the flange comprises a flange hole, and furthercomprising means for the rail and flange to slide together to align therail hole and the flange hole, and means for the pin to pass through therail hole and the flange hole and thereby releasably secure the flangeand the module housing to the load.

Example 129. The apparatus according to Example 110, further comprisingmeans for the modular housing to contain all of the plurality ofthrusters, the sensor suite, and the computer processor and memory.

Example 130. The apparatus according to Example 116, further comprisinga first fan unit and a second fan unit, and further comprising means forthe first fan unit and second fan unit to contain the plurality ofthrusters.

Example 131. The apparatus according to Example 123, further comprisingmeans to means to reposition the first fan unit and second fan unitwithin the modular load control system with a fan unit repositioningmechanism.

Example 132. The apparatus according to Example 110, further comprisinga frame, wherein the frame contains the plurality of thrusters, thesensor suite, the computer processor and memory, and the modularhousing, and further comprising a fan unit, wherein the fan unitcontains at least a subset of the plurality of thrusters, and furthercomprising means to reposition the fan unit within the frame.

Example 133. The apparatus according to Example 110, further comprisingmeans to combine the sensor data from the sensor suite through anon-linear filter to determine a current state, wherein the currentstate comprises the position, orientation, or motion.

Example 134. The computer apparatus according to Example 125, furthercomprising means to project near-term future motion based on the currentstate with feedback from at least one of a functional mode or commandstate of an operational module, a thrust and orientation mapping, or afan mapping.

Example 135. The computer apparatus according to Example 125, whereinthe non-linear filter is a Kalman filter.

Example 136. The computer apparatus according to Example 110, furthercomprising means to output control to the plurality of thrusters basedon the fan mapping to control the plurality of thrusters to control themotion of the load.

Example 137. One or more computer-readable media comprising instructionsthat cause a computer device, in response to execution of theinstructions by a processor of the computer device, to: determine aposition, orientation, or motion of a load suspended by a cable from acarrier based on a sensor data from a sensor suite and control aplurality of thrusters according to the position, orientation, or motionto influence at least one of the position, orientation, or motion of theload, wherein the plurality of thrusters, sensor suite, the computerprocessor, and a memory comprising the instructions are integrated intoa litter frame and wherein the load comprises the litter frame.

Example 138. The computer-readable media according to Example 130,wherein the plurality of thrusters are in a fan unit.

Example 139. The computer-readable media according to Example 131,wherein the fan unit comprises an air intake located between the firstthruster and the second thruster.

Example 140. The computer-readable media according to Example 131,wherein the fan unit is a first fan unit and further comprising a secondfan unit, wherein the second fan unit comprises a third thruster and afourth thruster in the plurality of thrusters, and wherein the first fanunit and the second fan unit are at opposite ends of the litter frame.

Example 141. The computer-readable media according to Example 131,wherein the fan unit comprises a fan unit housing, wherein the fan unithousing protects the fan unit and acts as a bumper for the load.

Example 142. The computer-readable media according to Example 130,wherein a sensor in the sensor suite is located in or proximate to oneof a fan unit, a housing for the computer processor, a housing for apower controller, a housing for a power supply, the carrier, or a remoteinterface.

Example 143. The computer-readable media according to Example 135,wherein the sensor comprises at least one of a vector navigation unit,an inertial measurement unit, an orientation measurement system, anabsolute position measurement system, a proximity sensor, an opticalsensor, a stain gauge sensor, and a thrust speed sensor.

Example 144. The computer-readable media according to Example 130,wherein the instructions further cause the computer device, in responseto execution of the instructions by a processor of the computer device,to control the plurality of thrusters to influence at least one of theposition, orientation, or motion of the load to impart a torque on thelitter frame, wherein the processor and memory and a power supply arecontained in a housing.

Example 145. The computer-readable media according to Example 137,wherein the housing is a first housing, the power supply is a firstpower supply and further comprising a second housing for a second powersupply and wherein the instructions further cause the computer device,in response to execution of the instructions by a processor of thecomputer device, to control the plurality of thrusters to influence atleast one of the position, orientation, or motion of the load to impartone of a horizontal thrust vector or the torque on the load controlsystem.

Example 146. The computer-readable media according to Example 137,further comprising a first fan unit and a second fan unit, wherein theplurality of thrusters are contained in the first fan unit and thesecond fan unit, and wherein the instructions further cause the computerdevice, in response to execution of the instructions by a processor ofthe computer device, to control the plurality of thrusters in the firstfan unit and the second fan unit to influence at least one of theposition, orientation, or motion of the load to impart one of ahorizontal thrust vector or the torque on the load control system.

Example 147. The computer-readable media according to Example 139,wherein the first fan unit is contained in the first housing and thesecond fan unit is contained in the second housing.

Example 148. The computer-readable media according to Example 139,wherein the first fan unit and the second fan unit are at opposite endsof the litter frame.

Example 149. The computer-readable media according to Example 130,further comprising a housing, wherein the housing contains the processorand memory and wherein the housing is centrally located within thelitter frame.

Example 150. The computer-readable media according to Example 130,wherein the litter frame comprises a brace, wherein the brace protectsat least one of the sensor suite, the computer processor and memory, orthe plurality of thrusters.

Example 151. The computer-readable media according to Example 130,wherein the instructions further cause the computer device, in responseto execution of the instructions by a processor of the computer device,to determine the position, orientation, or motion by combining thesensor data from the sensor suite through a non-linear filter todetermine a current state, wherein the current state comprises theposition, orientation, or motion.

Example 152. The computer-readable media according to Example 147,wherein the instructions further cause the computer device, in responseto execution of the instructions by a processor of the computer device,to project near-term future motion based on the current state.

Example 153. The computer-readable media according to Example 148,wherein project near-term future motion based on the current statecomprises update the current state with feedback from at least one of afunctional mode or command state of an operational module, a thrust andorientation mapping, or a fan mapping.

Example 154. The computer-readable media according to Example 147,wherein the non-linear filter is a Kalman filter.

Example 155. The computer-readable media according to Example 148,wherein the instructions further cause the computer device, in responseto execution of the instructions by a processor of the computer device,to output an output control to the plurality of thrusters based on thefan mapping.

Example 156. The computer-readable media according to Example 149,wherein the functional mode or command state causes the computer device,in response to execution of the instructions by a processor of thecomputer device, to at least one of idle, maintain relative location orposition relative to a carrier, move to a location, hold position,avoiding an obstacle, and directing control based on user input.

Example 157. The computer-readable media according to Example 130,wherein control a plurality of thrusters according to the position,orientation, or motion to control the motion of the load comprisesgenerate a plurality of thrust vectors, wherein the plurality of thrustvectors are perpendicular to a long axis of the litter frame.

Example 158. The computer-readable media according to Example 130,wherein the motion comprises at least one of yaw, pendular motion, orhorizontal translation.

Example 159. The computer-readable media according to Example 130,wherein the litter frame comprises a plurality of mounts for theplurality of thrusters.

Example 160. One or more computer-readable media comprising instructionsthat cause a computer device, in response to execution of theinstructions by a processor of the computer device, to: determine aposition, orientation, or motion based on a sensor data from a sensorsuite and control a plurality of thrusters according to the position,orientation, or motion to influence at least one of the position,orientation, or motion of a load suspended by a cable from a carrier,wherein at least one of a subset of the plurality of thrusters, thesensor suite, or the computer processor and memory are contained in amodular housing, wherein the modular housing comprises a housing-loadsecurement mechanism to releasably secure the modular housing to theload.

Example 161. The computer-readable media according to Example 153,wherein the housing-load securement mechanism is configured to securethe modular housing to at least one of a plurality of loads.

Example 162. The computer-readable media according to Example 154,wherein the plurality of loads comprise at least one of a litter, awebbing bundle, or a container.

Example 163. The computer-readable media according to Example 155,wherein the at least one of the plurality of loads comprises thecontainer and the container comprises a rigid rectangular structure.

Example 164. The computer-readable media according to Example 156,wherein the modular housing is secured to at least one of a top, a side,or a bottom of the rigid rectangular structure with the securementmechanism.

Example 165. The computer-readable media according to Example 153,wherein the housing-load securement mechanism comprises at least one ofa strap, an expansion brace, a bolting track, or a set of interlockingstructures.

Example 166. The computer-readable media according to Example 158,wherein the set of interlocking structures comprises a firstinterlocking structure secured to the load and a second interlockingstructure secured to the modular housing.

Example 167. The computer-readable media according to Example 159,wherein the first interlocking structure and the second interlockingstructure physically engage with one another and, when so engaged,provide one degree of freedom of motion between the first interlockingstructure and the second interlocking structure, wherein the one degreeof freedom of motion allows the modular housing to be releasably securedto the load.

Example 168. The computer-readable media according to Example 159,wherein the set of interlocking structures further comprises a thirdinterlocking structure, wherein the third interlocking structure engageswith at least one of the first interlocking structure or the secondinterlocking structure to preclude or prohibit the one degree of freedomof motion between the first interlocking structure and the secondinterlocking structure.

Example 169. The computer-readable media according to Example 161,wherein the third interlocking structure precludes or prohibits the onedegree of freedom of motion between the first interlocking structure andthe second interlocking structure when the third interlocking structureis releasably interposed through the first interlocking structure andthrough the second interlocking structure.

Example 170. The computer-readable media according to Example 158,wherein the set of interlocking structure comprises a rail secured tothe load, a flange secured to the modular housing, and a pin.

Example 171. The computer-readable media according to Example 163,wherein the rail comprises a rail hole, the flange comprises a flangehole, wherein the rail and flange slide together to align the rail holeand the flange hole, and wherein the pin passes through the rail holeand the flange hole and thereby releasably secures the flange and themodule housing to the load.

Example 172. The computer-readable media according to Example 153,wherein the modular housing contains all of the plurality of thrusters,the sensor suite, and the computer processor and memory.

Example 173. The computer-readable media according to Example 165,further comprising a first fan unit and a second fan unit, wherein thefirst fan unit and second fan unit contain the plurality of thrusters.

Example 174. The computer-readable media according to Example 166,further comprising a fan unit repositioning mechanism, wherein the fanrepositioning mechanism is configured to reposition the first fan unitand second fan unit within the modular load control system.

Example 175. The computer-readable media according to Example 153,further comprising a frame, wherein the frame contains the plurality ofthrusters, the sensor suite, the computer processor and memory, and themodular housing, and further comprising a fan unit, wherein the fan unitcontains at least a subset of the plurality of thrusters, and furthercomprising a fan unit repositioning mechanism, wherein the fan unitrepositioning mechanism allows the fan unit to be repositioned withinthe frame.

Example 176. The computer-readable media according to Example 153,wherein the instructions further cause the computer device, in responseto execution of the instructions by a processor of the computer device,to combine the sensor data from the sensor suite through a non-linearfilter to determine a current state, wherein the current state comprisesthe position, orientation, or motion.

Example 177. The computer-readable media according to Example 169,wherein the instructions further cause the computer device, in responseto execution of the instructions by a processor of the computer device,to project near-term future motion based on the current state withfeedback from at least one of a functional mode or command state of anoperational module, a thrust and orientation mapping, or a fan mapping.

Example 178. The computer-readable media according to Example 169,wherein the non-linear filter is a Kalman filter.

Example 179. The computer-readable media according to Example 153,wherein the instructions further cause the computer device, in responseto execution of the instructions by a processor of the computer device,to output control to the plurality of thrusters based on the fan mappingto control the plurality of thrusters to control the motion of the load.

What is claimed is:
 1. A load control system to influence at least oneof a position, orientation, or motion of a load suspended by a cablefrom a carrier, comprising: a litter frame, a plurality of thrusters, asensor suite, and a computer processor and memory, wherein the memorycomprises a thrust control module which, when executed by the computerprocessor, determines a position, orientation, or motion based on asensor data from the sensor suite and controls the plurality ofthrusters according to the position, orientation, or motion to influenceat least one of the position, orientation, or motion of the load andwherein the plurality of thrusters, sensor suite, and computer processorand memory are integrated into the litter frame.